version: 66.02
glider: 117
mission: 4
dive: 312
start: 10 5 107 6 12 33
data:
$ID,117
$MISSION,4
$DIVE,312
$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,40
$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,25
$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,-24147.209
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,055426,4744.405,-12250.386,13,1.7,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-60.4
$GPS2,061129,4744.294,-12250.432,10,3.5,29,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,0.198
$KALMAN_X,38792.2,-129.5,-66.7,-35772.4,-20.9
$KALMAN_Y,21045.0,-369.2,-218.6,-12110.1,46.4
$MHEAD_RNG_PITCHd_Wd,351.1,601,-18.4,-7.917
$D_GRID,172
$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,-1.54,-97.8,0.0,0.0,0,108,0.00,0.00,-78.45,0.000,2,0.000,0.000,408,2209,3005
$GC,111,-1.54,-97.8,2.2,-5.0,13,149,13.48,2.62,-17.85,0.000,4,0.196,0.073,2561,799,3601
$GC,190,-1.54,-97.8,9.8,-11.0,25,197,0.00,2.45,0.00,0.000,6,0.000,0.035,2561,2197,3602
$GC,263,-1.54,-97.8,16.8,-8.3,36,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2197,3602
$GC,340,-1.54,-97.8,23.2,-8.3,45,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2197,3603
$GC,531,-1.54,-97.8,39.5,-8.9,60,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2197,3603
$GC,722,-1.54,-97.8,55.9,-8.8,75,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2197,3603
$GC,910,-1.54,-97.8,72.5,-8.7,90,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2198,3603
$GC,1099,-1.54,-97.8,89.2,-8.7,105,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2198,3603
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1177,-0.38,0.0,95.8,8.7,111,1258,1.27,0.00,76.70,0.669,6,0.100,0.000,2812,2069,3201
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1261,1.54,97.8,98.6,0.0,118,1346,1.95,0.00,75.78,0.650,6,0.061,0.000,3237,2069,2802
$GC,1536,1.57,122.3,85.0,6.6,140,1561,0.00,2.60,18.40,0.670,4,0.000,0.056,3237,3476,2702
$GC,1628,1.57,122.3,77.8,8.1,147,1633,0.00,2.42,0.00,0.000,6,0.000,0.036,3237,2090,2702
$GC,1824,1.57,122.3,61.8,8.0,162,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2090,2702
$GC,2016,1.57,122.3,46.6,7.9,177,2020,0.00,2.50,0.00,0.000,4,0.000,0.055,3237,3476,2701
$GC,2154,1.57,122.3,34.7,8.6,187,2158,0.00,2.42,0.00,0.000,6,0.000,0.036,3239,2079,2701
$GC,2350,1.58,129.6,19.7,7.5,202,2362,0.00,2.58,5.25,0.712,4,0.000,0.055,3237,3482,2673
$GC,2395,1.58,129.6,16.1,8.1,209,2402,0.00,2.45,0.00,0.000,6,0.000,0.035,3237,2077,2673
$GC,2468,1.61,158.4,11.0,6.3,220,2493,0.00,0.00,21.85,0.641,6,0.000,0.000,3237,2074,2556
$GC,2561,1.67,207.0,6.2,5.3,234,2586,0.12,0.00,22.90,0.628,2,0.055,0.000,3270,2074,2433
$STATE,2587,end climb,SURFACE_DEPTH_REACHED
$STATE,2587,begin surface coast
$FINISH,-0.2,1.022645
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2714,202.52,0.572,0,0,746,602.46
$SM_GC,0.49,0.00,0.00,202.52,0.000,0.000,0.572,409,2213,746,-11.46,0.37,602.46
$IRIDIUM_FIX,4726.11,-12248.15,051007,101011
$TT8_MAMPS,0.071331
$HUMID,2151
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,44.639
$10V_AH,10.1,29.110
$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,29.850,20.425,220.875,202.525,0.000,180.641,231.559,189.396,0.750,0.000,3946.000,30.019,460.935,1730.277,515.260,450.060,804.971,33.343,783.657,0.000,417.517,0.000,2.489
$DEVICE_MAMPS,195.585,72.865,711.776,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.982,0.000,0.000,0.000,0.000,0.000,0.000,3946.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,253
$CFSIZE,260231168,247808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,070217,4744.500,-12250.406,11,2.2,30,18.3