version: 66.03
glider: 17
mission: 4
dive: 144
start: 10 27 107 15 31 20
data:
$ID,17
$MISSION,4
$DIVE,144
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0281
$MASS,51832
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81268.633
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,2526
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.21290922
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,152839,4807.560,-12223.771,30,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-52.6
$GPS2,153029,4807.542,-12223.770,21,1.1,22,18.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.234,0.049
$KALMAN_X,-44165.7,-381.8,-219.3,44499.3,-31.0
$KALMAN_Y,12015.0,470.0,1263.9,-13506.6,-354.6
$MHEAD_RNG_PITCHd_Wd,60.1,14438960,-20.0,-10.000
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.39,-121.6,0.0,0.0,0,104,0.00,0.00,-83.32,0.000,2,0.000,0.000,62,2010,2217
$GC,107,-1.39,-121.6,3.5,-6.9,12,234,9.75,2.60,-105.65,0.000,4,0.028,0.050,2228,616,2996
$GC,474,-1.39,-121.6,44.1,-10.2,54,483,0.00,2.53,0.00,0.000,6,0.000,0.025,2228,2005,2996
$GC,610,-1.39,-121.6,58.3,-11.3,67,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2004,2996
$GC,737,-1.39,-121.6,72.3,-11.1,79,742,0.00,2.70,0.00,0.000,4,0.000,0.048,2228,3405,2996
$GC,984,-1.39,-121.6,98.2,-10.2,101,994,0.00,2.47,0.00,0.000,6,0.000,0.025,2228,2016,2996
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1017,-0.31,0.0,100.8,10.3,104,1076,1.05,0.00,53.70,0.587,6,0.038,0.000,2463,2016,2500
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1078,1.39,121.6,106.2,0.0,110,1140,1.65,2.58,53.50,0.583,4,0.044,0.041,2826,611,2004
$GC,1380,1.39,121.6,86.3,12.3,137,1390,0.00,2.53,0.00,0.000,6,0.000,0.025,2826,2007,2003
$GC,1517,1.39,121.6,69.8,12.4,150,1521,0.00,2.58,0.00,0.000,4,0.000,0.038,2826,616,2003
$GC,1762,1.39,121.6,38.8,11.6,172,1771,0.00,2.53,0.00,0.000,6,0.000,0.025,2826,2007,2003
$GC,1834,1.39,121.6,30.8,11.5,179,1839,0.00,2.58,0.00,0.000,4,0.000,0.038,2827,615,2003
$GC,2080,1.39,121.6,4.5,10.6,215,2088,0.00,2.55,0.00,0.000,6,0.000,0.025,2826,2006,2003
$STATE,2109,end climb,SURFACE_DEPTH_REACHED
$STATE,2109,begin surface coast
$FINISH,0.9,0.998855
$STATE,2132,end surface coast,CONTROL_FINISHED_OK
$STATE,2132,begin surface
$SM_CCo,2152,114.15,0.595,0,0,971,375.06
$SM_GC,-0.00,0.00,0.00,114.15,0.000,0.000,0.595,62,2007,971,-11.33,-0.08,375.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,1960
$INTERNAL_PRESSURE,13.2036
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,10.0,0.0
$ALTIM_BOTTOM_PING,75.4,0.0
$24V_AH,23.7,0.045
$10V_AH,9.8,0.026
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6476,224
$CFSIZE,252424192,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,271007,160952,4807.441,-12223.565,15,1.1,15,18.0