version: 66.02
glider: 117
mission: 4
dive: 303
start: 10 4 107 19 4 43
data:
$ID,117
$MISSION,4
$DIVE,303
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$D_ABORT,1050
$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,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$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,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-23919.324
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$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,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,184256,4744.649,-12250.320,14,1.9,19,18.3
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-61.7
$GPS2,190335,4744.625,-12250.329,13,3.3,32,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.011
$KALMAN_X,39518.6,-7.0,-16.6,-36543.7,-36.3
$KALMAN_Y,23347.1,-134.0,35.0,-14291.2,-17.7
$MHEAD_RNG_PITCHd_Wd,256.7,65,-27.4,-7.037
$D_GRID,169
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-2.16,-37.3,0.0,0.0,0,101,0.00,0.00,-72.47,0.000,2,0.000,0.000,409,2196,2853
$GC,105,-2.19,-66.2,2.0,-3.4,12,147,12.75,0.00,-22.80,0.000,6,0.199,0.000,2413,2197,3474
$GC,213,-2.19,-66.2,13.0,-15.7,29,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2197,3475
$GC,291,-2.19,-66.2,23.3,-12.2,39,296,0.00,2.55,0.00,0.000,4,0.000,0.058,2413,3601,3476
$GC,436,-2.19,-66.2,41.3,-12.4,49,443,0.00,2.45,0.00,0.000,6,0.000,0.035,2413,2186,3476
$GC,632,-2.19,-66.2,65.1,-12.4,65,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2186,3478
$GC,825,-2.19,-66.2,87.7,-11.6,80,829,0.00,2.55,0.00,0.000,4,0.000,0.056,2413,3598,3477
$GC,858,-2.19,-66.2,92.1,-12.5,82,862,0.00,2.42,0.00,0.000,6,0.000,0.035,2413,2203,3476
$STATE,886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,893,-0.38,0.0,95.8,11.8,84,951,2.08,0.00,52.97,0.673,6,0.120,0.000,2807,2066,3202
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,955,2.19,66.2,98.1,0.0,89,1012,2.65,0.00,51.70,0.658,6,0.060,0.000,3381,2066,2932
$GC,1199,2.19,66.2,83.7,7.4,109,1203,0.00,2.58,0.00,0.000,4,0.000,0.056,3381,3479,2931
$GC,1332,2.19,66.2,73.9,7.3,118,1338,0.00,2.42,0.00,0.000,6,0.000,0.036,3380,2087,2930
$GC,1528,2.20,70.0,60.7,6.6,134,1540,0.00,2.58,2.53,0.775,4,0.000,0.054,3381,3479,2916
$GC,1598,2.20,70.0,55.4,7.7,139,1605,0.00,2.47,0.00,0.000,6,0.000,0.035,3381,2079,2916
$GC,1795,2.20,72.8,41.8,6.7,155,1799,0.00,0.00,1.88,0.803,6,0.000,0.000,3381,2079,2905
$GC,1984,2.20,72.8,28.5,7.4,170,1988,0.00,2.55,0.00,0.000,4,0.000,0.055,3381,3485,2905
$GC,2245,2.27,129.4,15.4,-0.1,199,2295,0.00,2.45,43.53,0.632,6,0.000,0.035,3381,2073,2674
$GC,2360,2.28,138.6,11.4,5.9,217,2373,0.00,2.58,6.82,0.676,4,0.000,0.054,3381,3477,2635
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,-0.2,1.022258
$STATE,2537,end surface coast,CONTROL_FINISHED_OK
$STATE,2540,begin surface
$SM_CCo,2570,140.02,0.576,0,0,1366,450.13
$SM_GC,0.58,0.00,0.00,140.02,0.000,0.000,0.576,410,2191,1366,-11.45,-0.25,450.13
$IRIDIUM_FIX,4726.11,-12255.26,041007,222224
$TT8_MAMPS,0.072098
$HUMID,2169
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.7,43.627
$10V_AH,10.1,28.256
$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,31.325,30.050,159.425,140.025,0.000,174.990,161.404,476.773,0.750,8.300,4062.700,33.114,458.606,1614.831,414.932,479.309,1010.054,33.369,681.703,0.000,432.711,0.000,2.489
$DEVICE_MAMPS,198.653,57.525,803.049,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.407,0.000,0.000,0.000,0.000,0.000,0.000,4071.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6466,244
$CFSIZE,260231168,248131584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,195039,4744.636,-12250.598,10,1.5,10,18.3