version: 66.02
glider: 117
mission: 4
dive: 307
start: 10 4 107 23 38 39
data:
$ID,117
$MISSION,4
$DIVE,307
$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,90
$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,15
$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,-24002.879
$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,33
$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
$GPS1,231550,4744.596,-12250.440,8,1.3,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-58.9
$GPS2,233715,4744.408,-12250.447,13,1.5,13,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.018,0.262
$KALMAN_X,39521.2,18.1,-105.1,-36627.6,45.2
$KALMAN_Y,22573.4,-165.0,-125.1,-13722.6,-162.6
$MHEAD_RNG_PITCHd_Wd,345.6,397,-10.9,-7.037
$D_GRID,165
$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,-0.96,-97.8,0.0,0.0,0,107,0.00,0.00,-78.30,0.000,2,0.000,0.000,411,2191,2996
$GC,111,-0.96,-97.8,2.1,-4.0,13,154,14.25,2.65,-19.00,0.000,4,0.196,0.074,2687,801,3604
$GC,176,-0.96,-97.8,6.2,-6.1,23,182,0.00,2.45,0.00,0.000,6,0.000,0.035,2687,2201,3605
$GC,249,-0.96,-97.8,11.0,-6.5,34,255,0.00,2.53,0.00,0.000,4,0.000,0.058,2687,3597,3605
$GC,295,-0.96,-97.8,14.3,-7.1,41,301,0.00,2.42,0.00,0.000,6,0.000,0.035,2687,2197,3605
$GC,368,-0.96,-97.8,18.1,-5.0,52,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,3605
$GC,445,-0.96,-97.8,22.0,-4.9,61,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,3605
$GC,636,-0.96,-97.8,31.9,-4.9,76,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,3604
$GC,825,-0.96,-97.8,41.7,-4.9,91,830,0.00,2.60,0.00,0.000,4,0.000,0.066,2687,800,3605
$GC,858,-0.96,-97.8,43.6,-5.4,93,863,0.00,2.45,0.00,0.000,6,0.000,0.035,2687,2200,3605
$GC,1054,-0.96,-97.8,53.6,-5.2,108,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,3605
$GC,1246,-0.96,-97.8,63.0,-4.9,123,1250,0.00,2.60,0.00,0.000,4,0.000,0.064,2687,802,3605
$GC,1297,-0.96,-97.8,65.9,-5.2,126,1304,0.00,2.42,0.00,0.000,6,0.000,0.036,2687,2200,3605
$GC,1494,-0.96,-97.8,75.6,-4.6,142,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,3605
$GC,1685,-0.96,-97.8,84.7,-5.0,157,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,3605
$GC,1875,-0.96,-97.8,93.8,-4.9,172,1879,0.00,2.60,0.00,0.000,4,0.000,0.065,2687,798,3605
$STATE,1897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1897,begin apogee
$GC,1906,-0.38,0.0,95.2,4.8,173,1986,0.60,0.00,77.15,0.669,6,0.078,0.000,2813,2084,3203
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1987,begin climb
$GC,1990,0.96,97.8,97.3,0.0,180,2071,1.38,0.00,75.97,0.650,6,0.061,0.000,3107,2085,2803
$GC,2259,1.08,199.2,87.7,4.6,202,2344,0.12,2.70,78.10,0.641,4,0.051,0.067,3141,684,2387
$GC,2364,1.08,199.2,80.9,7.4,210,2371,0.00,2.47,0.00,0.000,6,0.000,0.036,3142,2078,2387
$GC,2560,1.08,199.2,66.4,7.5,226,2564,0.00,2.53,0.00,0.000,4,0.000,0.058,3141,3473,2387
$GC,2651,1.08,199.2,59.1,8.0,232,2658,0.00,2.45,0.00,0.000,6,0.000,0.037,3142,2088,2387
$GC,2848,1.09,209.4,45.0,6.8,248,2859,0.00,0.00,7.03,0.699,6,0.000,0.000,3141,2088,2347
$GC,3049,1.09,209.4,30.7,7.4,264,3053,0.00,2.53,0.00,0.000,4,0.000,0.055,3142,3480,2347
$GC,3100,1.09,209.4,26.8,7.7,267,3107,0.00,2.45,0.00,0.000,6,0.000,0.037,3142,2076,2347
$GC,3302,1.15,255.7,12.9,5.9,291,3345,0.00,2.58,35.22,0.627,4,0.000,0.054,3142,3476,2159
$GC,3405,1.18,280.1,6.7,6.5,307,3429,0.00,2.45,18.33,0.639,6,0.000,0.036,3142,2079,2060
$STATE,3433,end climb,SURFACE_DEPTH_REACHED
$STATE,3433,begin surface coast
$FINISH,-0.1,1.022588
$STATE,3527,end surface coast,CONTROL_FINISHED_OK
$STATE,3527,begin surface
$SM_CCo,3556,76.18,0.584,0,0,1367,450.13
$SM_GC,0.56,0.00,0.00,76.18,0.000,0.000,0.584,408,2215,1367,-11.46,0.42,450.13
$IRIDIUM_FIX,4726.11,-12248.15,051007,030359
$TT8_MAMPS,0.073632
$HUMID,2179
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.7,44.078
$10V_AH,10.1,28.628
$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,28.575,45.325,291.800,76.175,0.000,178.054,230.780,470.808,0.500,0.000,5111.000,15.715,595.836,2217.581,477.328,564.509,1103.782,33.336,818.974,0.000,533.963,0.000,2.493
$DEVICE_MAMPS,195.585,74.399,698.737,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,230.477,0.000,0.000,0.000,0.000,0.000,0.000,5111.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,9623,326
$CFSIZE,260231168,247967744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051007,004017,4744.687,-12250.483,9,2.7,29,18.3