version: 66.02
glider: 117
mission: 4
dive: 306
start: 10 4 107 22 25 52
data:
$ID,117
$MISSION,4
$DIVE,306
$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,-23986.537
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,220825,4744.575,-12250.311,40,0.9,40,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,3
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-54.7
$GPS2,222445,4744.492,-12250.306,16,1.9,16,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,0.123
$KALMAN_X,39570.3,27.5,-112.1,-36505.1,19.7
$KALMAN_Y,22930.5,-142.2,-71.2,-14001.7,-105.3
$MHEAD_RNG_PITCHd_Wd,323.1,249,-25.8,-7.037
$D_GRID,173
$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,-2.04,-41.9,0.0,0.0,0,142,0.00,0.00,-108.32,0.000,2,0.000,0.000,412,2199,2935
$GC,145,-2.08,-70.8,2.0,-3.8,18,183,12.85,2.60,-18.92,0.000,4,0.199,0.069,2438,3595,3492
$GC,218,-2.08,-70.8,8.0,-11.1,29,224,0.00,2.42,0.00,0.000,6,0.000,0.035,2438,2199,3493
$GC,290,-2.08,-70.8,18.5,-13.6,40,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2199,3493
$GC,366,-2.08,-70.8,27.1,-11.1,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2199,3493
$GC,558,-2.08,-70.8,48.9,-11.4,62,562,0.00,2.53,0.00,0.000,4,0.000,0.056,2438,3595,3494
$GC,636,-2.08,-70.8,58.7,-11.7,67,643,0.00,2.42,0.00,0.000,6,0.000,0.035,2438,2192,3494
$GC,832,-2.08,-70.8,81.3,-11.7,83,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2191,3494
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,956,begin apogee
$GC,963,-0.38,0.0,96.2,12.0,93,1020,1.95,0.00,52.45,0.665,6,0.117,0.000,2811,2068,3202
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,2.08,70.8,98.5,0.0,98,1086,2.50,0.00,56.67,0.649,6,0.059,0.000,3355,2068,2914
$GC,1269,2.08,70.8,85.2,7.1,118,1273,0.00,2.55,0.00,0.000,4,0.000,0.054,3355,3473,2915
$GC,1329,2.08,71.9,81.1,6.9,122,1333,0.00,2.42,0.00,0.000,6,0.000,0.035,3355,2082,2916
$GC,1524,2.08,71.9,67.5,7.0,137,1528,0.00,2.53,0.00,0.000,4,0.000,0.054,3355,3473,2916
$GC,1570,2.08,74.7,64.4,6.7,140,1582,0.00,2.42,2.83,0.755,6,0.000,0.035,3355,2081,2897
$GC,1771,2.08,74.7,50.0,7.1,156,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2081,2899
$GC,1963,2.08,75.3,37.2,7.0,171,1967,0.00,2.53,0.00,0.000,4,0.000,0.054,3355,3476,2899
$GC,2042,2.08,75.3,31.3,7.4,176,2049,0.00,2.42,0.00,0.000,6,0.000,0.035,3355,2079,2899
$GC,2238,2.09,82.8,18.8,6.2,193,2251,0.00,2.55,6.20,0.704,4,0.000,0.054,3355,3479,2864
$GC,2503,2.16,141.9,16.0,0.4,233,2557,0.00,2.42,45.10,0.630,6,0.000,0.035,3355,2079,2623
$GC,2624,2.17,149.5,11.1,6.2,252,2636,0.00,2.55,5.47,0.685,4,0.000,0.053,3355,3480,2592
$STATE,2707,end climb,SURFACE_DEPTH_REACHED
$STATE,2707,begin surface coast
$FINISH,-0.1,1.022399
$STATE,2780,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2812,136.75,0.577,0,0,1366,450.13
$SM_GC,0.60,0.00,0.00,136.75,0.000,0.000,0.577,410,2191,1366,-11.45,-0.28,450.13
$IRIDIUM_FIX,4726.11,-12248.15,051007,010114
$TT8_MAMPS,0.072098
$HUMID,2160
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.7,43.958
$10V_AH,10.1,28.520
$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,30.700,34.800,168.725,136.750,0.000,63.036,37.643,663.093,0.250,0.000,4161.000,16.820,496.316,1578.752,446.356,484.023,950.327,33.337,732.157,0.000,454.417,0.000,2.488
$DEVICE_MAMPS,199.420,69.030,755.495,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.639,0.000,0.000,0.000,0.000,0.000,0.000,4161.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6432,276
$CFSIZE,260231168,248020992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,231550,4744.596,-12250.440,8,1.3,13,18.3