version: 66.03
glider: 17
mission: 4
dive: 161
start: 10 28 107 2 53 29
data:
$ID,17
$MISSION,4
$DIVE,161
$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,-81636.312
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,025056,4807.788,-12223.834,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-52.6
$GPS2,025237,4807.787,-12223.823,9,1.1,9,18.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.185,-0.152
$KALMAN_X,-50166.0,-372.4,-333.4,50527.5,-202.8
$KALMAN_Y,14430.7,343.6,1115.1,-15188.0,206.6
$MHEAD_RNG_PITCHd_Wd,111.5,14439216,-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,18,-1.39,-121.6,0.0,0.0,0,111,0.00,0.00,-90.12,0.000,2,0.000,0.000,62,2017,2310
$GC,114,-1.39,-121.6,4.0,-6.6,13,227,9.77,2.62,-94.68,0.000,4,0.028,0.054,2230,3404,2996
$GC,467,-1.39,-121.6,45.4,-10.5,52,477,0.00,2.47,0.00,0.000,6,0.000,0.025,2230,2017,2995
$GC,604,-1.39,-121.6,59.5,-10.8,65,608,0.00,2.65,0.00,0.000,4,0.000,0.043,2230,3405,2995
$GC,718,-1.39,-121.6,72.2,-11.2,75,723,0.00,2.45,0.00,0.000,6,0.000,0.025,2230,2005,2995
$GC,853,-1.39,-121.6,86.3,-10.6,87,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2005,2995
$GC,980,-1.39,-121.6,99.5,-10.4,99,983,0.00,1.38,0.00,0.000,3,0.000,0.035,2230,1229,2995
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,990,-0.31,0.0,100.2,10.0,99,1049,1.02,0.00,53.60,0.566,6,0.041,0.000,2462,2024,2500
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1051,1.39,121.6,106.5,0.0,105,1110,1.67,0.00,53.40,0.553,6,0.044,0.000,2824,2023,2004
$GC,1237,1.43,167.1,103.7,7.5,123,1262,0.00,2.65,20.08,0.529,4,0.000,0.040,2826,612,1818
$GC,1503,1.43,167.1,70.3,11.9,147,1513,0.00,2.50,0.00,0.000,6,0.000,0.025,2825,1986,1818
$GC,1640,1.43,167.1,54.1,12.6,160,1644,0.00,2.53,0.00,0.000,4,0.000,0.038,2825,616,1818
$GC,1811,1.43,167.1,33.0,10.6,175,1819,0.00,2.53,0.00,0.000,6,0.000,0.025,2825,2004,1818
$GC,1883,1.43,167.1,25.1,11.5,182,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1818
$GC,1946,1.43,167.1,18.0,11.1,189,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1818
$GC,2017,1.43,167.1,10.1,11.1,202,2026,0.00,2.58,0.00,0.000,4,0.000,0.038,2825,620,1818
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,1.0,0.998840
$STATE,2126,end surface coast,CONTROL_FINISHED_OK
$STATE,2126,begin surface
$SM_CCo,2150,93.70,0.575,0,0,971,375.06
$SM_GC,-0.00,0.00,0.00,93.70,0.000,0.000,0.575,59,2008,971,-11.35,-0.06,375.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1918
$INTERNAL_PRESSURE,13.1841
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,9.4,0.0
$ALTIM_BOTTOM_PING,75.1,0.0
$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,6435,222
$CFSIZE,252424192,247631872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,281007,033149,4807.560,-12223.771,26,1.1,26,18.0