version: 66.02
glider: 117
mission: 4
dive: 323
start: 10 5 107 17 29 16
data:
$ID,117
$MISSION,4
$DIVE,323
$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,-24449.012
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$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
$GPS1,171537,4744.528,-12250.389,38,1.3,43,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-61.7
$GPS2,172809,4744.553,-12250.403,12,1.2,12,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.157
$KALMAN_X,38370.1,-59.6,-33.6,-35417.5,16.4
$KALMAN_Y,20315.2,-13.0,-6.7,-11471.6,84.7
$MHEAD_RNG_PITCHd_Wd,3.8,122,-22.2,-7.917
$D_GRID,166
$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,-68.1,0.0,0.0,0,108,0.00,0.00,-76.72,0.000,2,0.000,0.000,410,2211,2996
$GC,112,-1.83,-97.8,2.1,-4.6,13,149,13.20,2.65,-17.77,0.000,4,0.199,0.073,2494,801,3603
$GC,401,-1.83,-97.8,36.3,-11.3,47,405,0.00,2.45,0.00,0.000,6,0.000,0.036,2493,2194,3604
$GC,596,-1.83,-97.8,58.6,-11.6,62,601,0.00,2.58,0.00,0.000,4,0.000,0.064,2492,802,3605
$GC,724,-1.83,-97.8,73.4,-12.0,71,728,0.00,2.45,0.00,0.000,6,0.000,0.037,2493,2200,3605
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,913,-0.38,0.0,95.1,11.4,85,995,1.60,0.00,77.55,0.671,6,0.109,0.000,2811,2124,3202
$STATE,996,end apogee,CONTROL_FINISHED_OK
$STATE,996,begin climb
$GC,999,1.83,97.8,98.4,0.0,92,1080,2.25,0.00,76.03,0.653,6,0.061,0.000,3300,2124,2803
$GC,1268,1.83,99.7,83.3,7.8,114,1272,0.00,2.55,0.00,0.000,4,0.000,0.064,3301,765,2801
$GC,1314,1.83,99.7,79.4,8.6,117,1318,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2157,2801
$GC,1510,1.84,103.4,64.8,7.6,132,1522,0.00,2.60,4.00,0.739,4,0.000,0.061,3301,3547,2780
$GC,1575,1.84,103.4,59.2,9.2,137,1580,0.00,2.40,0.00,0.000,6,0.000,0.035,3301,2164,2780
$GC,1771,1.84,103.4,42.7,8.2,152,1775,0.00,2.53,0.00,0.000,4,0.000,0.058,3301,3553,2780
$GC,1830,1.84,103.4,37.7,8.5,156,1835,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2152,2780
$GC,2026,1.84,103.4,22.3,8.3,171,2030,0.00,2.53,0.00,0.000,4,0.000,0.057,3301,3546,2780
$GC,2127,1.84,103.4,14.2,8.2,183,2133,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2148,2780
$GC,2200,1.90,152.5,10.3,4.1,194,2243,0.00,2.72,37.45,0.631,4,0.000,0.065,3301,753,2580
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,4.2,1.022499
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2353,144.32,0.584,0,0,1367,450.13
$SM_GC,0.58,0.00,0.00,144.32,0.000,0.000,0.584,412,2201,1367,-11.44,0.03,450.13
$IRIDIUM_FIX,4726.11,-12248.15,051007,202057
$TT8_MAMPS,0.073632
$HUMID,2145
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,45.769
$10V_AH,10.1,29.980
$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,30.900,35.400,195.025,144.325,0.000,60.324,34.672,447.300,0.250,0.000,3358.000,14.902,400.618,1304.150,440.138,412.137,720.224,33.331,686.999,0.000,385.914,0.000,2.489
$DEVICE_MAMPS,199.420,72.865,738.621,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.826,0.000,0.000,0.000,0.000,0.000,0.000,3358.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6435,213
$CFSIZE,260231168,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,181159,4744.750,-12250.396,8,2.6,27,18.3