version: 66.02
glider: 117
mission: 4
dive: 319
start: 10 5 107 13 28 21
data:
$ID,117
$MISSION,4
$DIVE,319
$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,-24367.096
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,130507,4744.678,-12250.589,41,1.3,46,18.3
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-57.9
$GPS2,132717,4744.682,-12250.597,9,2.1,28,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.069
$KALMAN_X,38444.8,-146.3,12.8,-35690.2,-11.5
$KALMAN_Y,20131.7,-291.1,59.4,-10839.1,5.4
$MHEAD_RNG_PITCHd_Wd,95.8,295,-22.2,-7.917
$D_GRID,139
$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,29,-1.79,-68.1,0.0,0.0,0,146,0.00,0.00,-112.72,0.000,2,0.000,0.000,409,2185,3054
$GC,150,-1.83,-97.8,2.2,-4.6,19,187,13.10,2.62,-15.07,0.000,4,0.196,0.076,2493,809,3603
$GC,387,-1.83,-97.8,30.8,-11.1,48,392,0.00,2.45,0.00,0.000,6,0.000,0.037,2493,2200,3605
$GC,583,-1.83,-97.8,52.8,-11.5,63,587,0.00,2.55,0.00,0.000,4,0.000,0.060,2493,3600,3605
$GC,642,-1.83,-97.8,59.9,-12.1,67,646,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2201,3605
$GC,839,-1.83,-97.8,81.7,-11.2,82,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2201,3605
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,968,-0.38,0.0,95.7,10.8,92,1049,1.62,0.00,75.75,0.668,6,0.109,0.000,2809,2074,3202
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1053,1.83,97.8,98.5,0.0,99,1138,2.25,0.00,75.55,0.650,6,0.061,0.000,3301,2074,2803
$GC,1327,1.83,97.8,82.0,8.0,121,1332,0.00,2.55,0.00,0.000,4,0.000,0.055,3301,3476,2804
$GC,1479,1.83,97.8,69.2,8.8,132,1483,0.00,2.42,0.00,0.000,6,0.000,0.036,3301,2083,2804
$GC,1682,1.83,101.3,53.4,7.6,148,1686,0.00,0.00,2.65,0.749,6,0.000,0.000,3301,2083,2788
$GC,1870,1.83,101.3,38.3,8.4,163,1874,0.00,2.53,0.00,0.000,4,0.000,0.056,3301,3475,2790
$GC,2128,1.83,101.3,17.0,8.2,184,2134,0.00,2.42,0.00,0.000,6,0.000,0.036,3301,2078,2790
$GC,2201,1.85,112.2,11.8,7.1,195,2214,0.00,2.60,8.07,0.683,4,0.000,0.054,3301,3481,2744
$GC,2313,1.95,196.2,8.7,1.4,212,2389,0.10,2.45,64.30,0.616,6,0.071,0.035,3324,2070,2402
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,-0.1,1.022777
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2511,198.98,0.568,0,0,746,602.46
$SM_GC,0.54,0.00,0.00,198.98,0.000,0.000,0.568,410,2210,746,-11.45,0.28,602.46
$IRIDIUM_FIX,4726.11,-12248.15,051007,171710
$TT8_MAMPS,0.071331
$HUMID,2146
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,45.377
$10V_AH,10.1,29.672
$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,30.425,25.400,226.325,198.975,0.000,183.258,245.006,478.635,0.500,16.600,4179.400,31.535,422.626,1531.272,532.878,477.684,1099.944,33.329,814.652,0.000,435.503,0.000,2.488
$DEVICE_MAMPS,196.352,75.933,749.359,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.126,0.000,0.000,0.000,0.000,0.000,0.000,4196.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6463,238
$CFSIZE,260231168,247603200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051007,141441,4744.652,-12250.314,13,3.3,32,18.3