version: 66.02
glider: 117
mission: 4
dive: 320
start: 10 5 107 14 34 14
data:
$ID,117
$MISSION,4
$DIVE,320
$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,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,-24399.605
$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,29
$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
$GPS1,141441,4744.652,-12250.314,13,3.3,32,18.3
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-57.6
$GPS2,143307,4744.640,-12250.328,16,1.4,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,-0.141
$KALMAN_X,38401.9,-126.1,1.3,-35322.3,-15.1
$KALMAN_Y,20164.8,-223.9,34.1,-10992.3,34.3
$MHEAD_RNG_PITCHd_Wd,195.5,78,-22.2,-7.917
$D_GRID,169
$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,-1.79,-68.1,0.0,0.0,0,146,0.00,0.00,-114.10,0.000,2,0.000,0.000,410,2211,3089
$GC,149,-1.83,-97.8,2.2,-4.9,19,186,13.20,2.55,-13.52,0.000,4,0.199,0.068,2494,3586,3603
$GC,437,-1.83,-97.8,37.3,-11.3,52,441,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2196,3605
$GC,633,-1.83,-97.8,58.8,-10.8,67,637,0.00,2.50,0.00,0.000,4,0.000,0.055,2494,3587,3605
$GC,752,-1.83,-97.8,72.5,-11.9,75,758,0.00,2.40,0.00,0.000,6,0.000,0.035,2495,2194,3605
$GC,948,-1.83,-97.8,94.4,-11.3,91,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2194,3605
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,965,-0.38,0.0,95.7,11.1,92,1045,1.62,0.00,76.25,0.673,6,0.110,0.000,2809,2069,3202
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1049,1.83,97.8,98.7,0.0,99,1133,2.28,2.67,75.57,0.654,4,0.061,0.067,3300,685,2803
$GC,1181,1.84,107.2,93.7,7.2,110,1194,0.00,2.45,7.35,0.700,6,0.000,0.035,3300,2070,2764
$GC,1383,1.84,107.2,77.3,8.3,126,1387,0.00,2.55,0.00,0.000,4,0.000,0.058,3300,3475,2764
$GC,1474,1.84,107.2,69.5,8.6,132,1481,0.00,2.45,0.00,0.000,6,0.000,0.036,3300,2087,2765
$GC,1671,1.84,107.2,53.4,8.5,148,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2087,2764
$GC,1862,1.84,107.2,37.4,8.5,163,1866,0.00,2.53,0.00,0.000,4,0.000,0.056,3300,3476,2765
$GC,2100,1.84,107.2,16.0,8.3,184,2106,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2079,2764
$GC,2173,1.89,147.8,11.2,4.8,195,2210,0.00,2.58,30.65,0.637,4,0.000,0.054,3300,3475,2599
$GC,2276,1.94,191.2,6.9,4.5,211,2314,0.10,2.45,32.38,0.625,2,0.071,0.035,3322,2073,2425
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,-0.1,1.022791
$STATE,2406,end surface coast,CONTROL_FINISHED_OK
$STATE,2406,begin surface
$SM_CCo,2436,115.80,0.579,0,0,1367,450.13
$SM_GC,0.61,0.00,0.00,115.80,0.000,0.000,0.579,409,2210,1367,-11.46,0.28,450.13
$IRIDIUM_FIX,4726.11,-12250.84,051007,181837
$TT8_MAMPS,0.072865
$HUMID,2162
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.7,45.489
$10V_AH,10.1,29.756
$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,30.600,30.325,222.200,115.800,0.000,142.882,102.908,504.587,0.750,16.600,3858.400,31.882,414.796,1404.337,456.823,470.875,937.919,33.340,732.309,0.000,425.691,0.000,2.489
$DEVICE_MAMPS,199.420,68.263,700.271,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.276,0.000,0.000,0.000,0.000,0.000,0.000,3875.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6460,231
$CFSIZE,260231168,247578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,151733,4744.521,-12250.495,10,1.5,10,18.3