version: 66.02
glider: 117
mission: 4
dive: 304
start: 10 4 107 20 11 34
data:
$ID,117
$MISSION,4
$DIVE,304
$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,602.45679
$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,-23934.928
$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,31
$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
$GPS1,195039,4744.636,-12250.598,10,1.5,10,18.3
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-61.8
$GPS2,201027,4744.618,-12250.586,14,1.5,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,0.004
$KALMAN_X,39570.2,5.7,-78.8,-36865.8,-5.8
$KALMAN_Y,23339.5,-132.8,2.4,-14265.8,-9.6
$MHEAD_RNG_PITCHd_Wd,70.0,257,-27.4,-7.037
$D_GRID,144
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.16,-37.3,0.0,0.0,0,110,0.00,0.00,-78.43,0.000,2,0.000,0.000,411,2192,2989
$GC,113,-2.18,-61.4,2.1,-4.0,13,150,12.73,2.60,-15.15,0.000,4,0.199,0.067,2417,3597,3455
$GC,401,-2.18,-61.4,38.2,-11.6,46,405,0.00,2.42,0.00,0.000,6,0.000,0.035,2416,2196,3458
$GC,597,-2.18,-61.4,60.2,-11.2,61,601,0.00,2.53,0.00,0.000,4,0.000,0.054,2417,3601,3457
$GC,846,-2.18,-61.4,90.8,-12.3,79,853,0.00,2.45,0.00,0.000,6,0.000,0.035,2417,2201,3457
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,896,-0.38,0.0,95.9,11.9,83,952,2.05,0.00,49.30,0.673,6,0.121,0.000,2809,2075,3202
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,956,2.18,61.4,98.2,0.0,88,1012,2.65,0.00,48.17,0.657,6,0.059,0.000,3376,2075,2950
$GC,1202,2.19,68.7,85.6,6.1,108,1213,0.00,0.00,5.30,0.729,6,0.000,0.000,3376,2075,2921
$GC,1403,2.19,68.7,71.6,7.0,124,1407,0.00,2.55,0.00,0.000,4,0.000,0.054,3376,3479,2920
$GC,1530,2.19,68.7,62.5,7.6,133,1534,0.00,2.42,0.00,0.000,6,0.000,0.036,3376,2087,2920
$GC,1726,2.20,72.2,49.1,6.6,148,1737,0.00,2.58,2.28,0.782,4,0.000,0.054,3376,3482,2907
$GC,1990,2.20,72.2,29.2,7.2,168,1994,0.00,2.45,0.00,0.000,6,0.000,0.036,3376,2076,2907
$GC,2188,2.21,79.8,16.2,6.1,187,2201,0.00,2.65,5.72,0.713,4,0.000,0.067,3376,679,2876
$GC,2453,2.27,132.7,15.3,0.4,227,2491,0.00,2.47,32.55,0.641,2,0.000,0.035,3376,2088,2702
$STATE,2491,end climb,NO_VERTICAL_VELOCITY
$STATE,2491,begin surface
$SM_CCo,2500,286.33,0.569,0,0,745,602.46
$SM_GC,0.52,13.38,0.00,0.00,0.037,0.000,0.000,409,2205,740,-11.41,0.14,603.93
$IRIDIUM_FIX,4729.30,-12248.15,051007,000020
$TT8_MAMPS,0.072865
$HUMID,2151
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,43.750
$10V_AH,10.1,28.342
$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,30.800,25.450,143.325,286.325,0.000,179.693,146.843,465.196,0.250,8.300,3952.700,14.977,444.859,1687.251,541.738,467.488,972.885,33.338,807.839,0.000,447.619,0.000,2.490
$DEVICE_MAMPS,199.420,67.496,782.340,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.679,0.000,0.000,0.000,0.000,0.000,0.000,3961.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6466,233
$CFSIZE,260231168,248082432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,210038,4744.521,-12250.433,8,1.5,8,18.3