version: 66.02
glider: 117
mission: 4
dive: 472
start: 10 11 107 4 14 27
data:
$ID,117
$MISSION,4
$DIVE,472
$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,30
$T_MISSION,70
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,500
$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,-28434.893
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,035307,4744.708,-12249.888,8,1.3,25,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-56.7
$GPS2,041320,4744.687,-12249.889,13,1.2,13,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,-0.239
$KALMAN_X,35244.9,-0.2,18.6,-31761.5,-12.5
$KALMAN_Y,30959.1,-66.1,-100.3,-21719.9,-8.4
$MHEAD_RNG_PITCHd_Wd,187.2,4521,-19.1,-10.556
$D_GRID,174
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.65,-146.6,0.0,0.0,0,164,0.00,0.00,-127.50,0.000,2,0.000,0.000,411,2206,3431
$GC,168,-1.65,-146.6,2.8,-6.8,21,199,14.20,2.60,-7.22,0.000,4,0.202,0.068,2537,3584,3804
$GC,357,-1.65,-146.6,30.8,-11.1,43,364,0.00,2.58,0.00,0.000,6,0.000,0.034,2537,2201,3804
$GC,554,-1.65,-146.6,52.4,-11.4,59,558,0.00,2.70,0.00,0.000,4,0.000,0.066,2538,801,3805
$GC,574,-1.65,-146.6,54.6,-10.8,60,578,0.00,2.53,0.00,0.000,6,0.000,0.035,2538,2200,3804
$GC,770,-1.65,-146.6,75.8,-10.6,75,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2200,3805
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,970,-0.38,0.0,96.3,11.0,90,1091,1.42,0.00,116.88,0.657,6,0.102,0.000,2810,2132,3202
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1093,begin climb
$GC,1099,1.65,146.6,101.3,0.0,100,1220,2.12,0.00,115.65,0.635,6,0.061,0.000,3260,2131,2604
$GC,1405,1.68,170.4,81.8,9.4,125,1430,0.00,2.65,18.23,0.653,4,0.000,0.058,3260,3551,2507
$GC,1498,1.68,170.4,72.3,11.1,132,1503,0.00,2.45,0.00,0.000,6,0.000,0.036,3260,2156,2507
$GC,1695,1.68,170.4,51.3,10.8,147,1699,0.00,2.55,0.00,0.000,4,0.000,0.057,3260,3552,2506
$GC,1734,1.68,170.4,47.0,11.1,149,1740,0.00,2.45,0.00,0.000,6,0.000,0.036,3260,2145,2507
$GC,1931,1.68,172.5,26.8,10.5,165,1935,0.00,2.58,0.00,0.000,4,0.000,0.058,3259,3553,2506
$GC,1983,1.68,172.5,21.0,10.9,168,1989,0.00,2.45,0.00,0.000,6,0.000,0.036,3260,2147,2506
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,-0.5,1.022578
$STATE,2251,end surface coast,CONTROL_FINISHED_OK
$STATE,2251,begin surface
$SM_CCo,2284,148.88,0.575,0,0,1162,500.17
$SM_GC,0.01,0.00,0.00,148.88,0.000,0.000,0.575,406,2216,1162,-11.47,0.45,500.17
$IRIDIUM_FIX,4726.11,-12250.84,111007,080852
$TT8_MAMPS,0.075933
$HUMID,2207
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,11.7
$24V_AH,22.7,60.336
$10V_AH,10.0,40.322
$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,30.525,25.675,250.750,148.875,0.000,177.093,231.270,383.846,0.500,0.000,3814.000,13.919,375.297,1368.864,524.117,383.214,1021.709,33.330,764.183,0.000,357.957,0.000,2.468
$DEVICE_MAMPS,202.488,68.263,656.552,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.060,0.000,0.000,0.000,0.000,0.000,0.000,3814.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6452,208
$CFSIZE,260231168,243126272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,045607,4744.415,-12250.036,12,1.5,28,18.3