version: 66.02
glider: 117
mission: 4
dive: 309
start: 10 5 107 2 19 32
data:
$ID,117
$MISSION,4
$DIVE,309
$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,-24050.574
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,020017,4744.639,-12250.445,11,2.1,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-61.5
$GPS2,021809,4744.497,-12250.536,14,1.8,14,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,0.207
$KALMAN_X,39050.8,-18.4,-43.0,-36288.9,-91.8
$KALMAN_Y,21775.5,-252.8,-256.7,-12538.3,-146.2
$MHEAD_RNG_PITCHd_Wd,19.6,295,-10.9,-7.037
$D_GRID,149
$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,-0.96,-97.8,0.0,0.0,0,109,0.00,0.00,-78.43,0.000,2,0.000,0.000,406,2206,2996
$GC,113,-0.96,-97.8,2.1,-4.2,13,150,14.27,0.00,-18.62,0.000,6,0.195,0.000,2686,2206,3603
$GC,216,-0.96,-97.8,9.2,-7.4,29,222,0.00,2.62,0.00,0.000,4,0.000,0.062,2686,798,3605
$GC,242,-0.96,-97.8,11.1,-7.2,33,249,0.00,2.45,0.00,0.000,6,0.000,0.035,2687,2193,3604
$GC,315,-0.96,-97.8,15.6,-5.7,44,321,0.00,2.55,0.00,0.000,4,0.000,0.059,2688,3598,3605
$GC,335,-0.96,-97.8,16.7,-6.0,47,341,0.00,2.42,0.00,0.000,6,0.000,0.035,2686,2190,3604
$GC,408,-0.96,-97.8,20.2,-4.9,58,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2190,3604
$GC,600,-0.96,-97.8,30.4,-5.6,73,605,0.00,2.58,0.00,0.000,4,0.000,0.064,2686,802,3605
$GC,641,-0.96,-97.8,32.8,-5.4,75,647,0.00,2.45,0.00,0.000,6,0.000,0.035,2686,2209,3605
$GC,836,-0.96,-97.8,43.1,-5.0,91,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2207,3605
$GC,1028,-0.96,-97.8,52.9,-5.3,106,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2207,3605
$GC,1219,-0.96,-97.8,62.8,-5.2,121,1223,0.00,2.60,0.00,0.000,4,0.000,0.063,2686,807,3605
$GC,1265,-0.96,-97.8,65.5,-5.5,124,1269,0.00,2.45,0.00,0.000,6,0.000,0.035,2687,2209,3605
$GC,1461,-0.96,-97.8,75.5,-5.0,139,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2210,3605
$GC,1654,-0.96,-97.8,84.4,-4.8,154,1658,0.00,2.60,0.00,0.000,4,0.000,0.062,2686,805,3605
$GC,1700,-0.96,-97.8,87.0,-5.3,157,1705,0.00,2.42,0.00,0.000,6,0.000,0.035,2686,2201,3605
$STATE,1870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1870,begin apogee
$GC,1877,-0.38,0.0,95.4,5.0,170,1958,0.60,0.00,77.38,0.673,6,0.079,0.000,2812,2070,3203
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1959,begin climb
$GC,1961,0.96,97.8,97.5,0.0,177,2042,1.38,0.00,75.95,0.650,6,0.062,0.000,3106,2070,2802
$GC,2230,1.09,206.0,87.5,4.5,199,2316,0.15,0.00,83.18,0.643,6,0.050,0.000,3143,2070,2362
$GC,2503,1.09,206.0,68.6,7.2,221,2507,0.00,2.58,0.00,0.000,4,0.000,0.066,3144,697,2359
$GC,2549,1.09,206.0,65.1,7.6,224,2553,0.00,2.45,0.00,0.000,6,0.000,0.035,3144,2090,2359
$GC,2744,1.09,206.0,51.2,7.1,239,2749,0.00,2.50,0.00,0.000,4,0.000,0.058,3144,3472,2359
$GC,2796,1.09,206.0,47.1,8.0,242,2803,0.00,2.42,0.00,0.000,6,0.000,0.036,3143,2097,2359
$GC,2992,1.09,206.0,33.0,7.5,258,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2097,2359
$GC,3184,1.09,206.0,19.5,7.0,273,3190,0.00,2.50,0.00,0.000,4,0.000,0.055,3143,3479,2359
$GC,3236,1.09,206.0,15.3,7.9,281,3242,0.00,2.45,0.00,0.000,6,0.000,0.036,3144,2073,2359
$GC,3309,1.15,258.3,10.8,5.8,292,3358,0.00,2.72,39.72,0.624,4,0.000,0.068,3144,680,2148
$GC,3397,1.19,284.6,5.5,6.4,306,3411,0.00,2.47,8.50,0.659,2,0.000,0.036,3144,2078,2102
$STATE,3412,end climb,SURFACE_DEPTH_REACHED
$STATE,3412,begin surface coast
$FINISH,-0.1,1.022835
$STATE,3496,end surface coast,CONTROL_FINISHED_OK
$STATE,3496,begin surface
$SM_CCo,3522,81.05,0.585,0,0,1367,450.13
$SM_GC,0.68,0.00,0.00,81.05,0.000,0.000,0.585,408,2211,1367,-11.46,0.31,450.13
$IRIDIUM_FIX,4726.11,-12252.58,051007,060625
$TT8_MAMPS,0.071331
$HUMID,2190
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,44.314
$10V_AH,10.1,28.832
$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,28.725,45.625,284.725,81.050,0.000,139.735,114.696,471.033,0.750,0.000,4823.000,14.196,598.341,2151.235,478.121,539.435,949.885,33.337,806.791,0.000,516.173,0.000,2.491
$DEVICE_MAMPS,194.818,68.263,673.426,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,227.229,0.000,0.000,0.000,0.000,0.000,0.000,4823.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,9561,321
$CFSIZE,260231168,247898112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,032027,4744.685,-12250.294,14,1.5,15,18.3