version: 66.02
glider: 117
mission: 4
dive: 474
start: 10 11 107 6 13 43
data:
$ID,117
$MISSION,4
$DIVE,474
$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,-28464.781
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,055305,4744.173,-12250.107,15,2.8,34,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-55.4
$GPS2,061233,4744.193,-12250.085,11,1.5,11,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.228
$KALMAN_X,35376.3,19.7,8.0,-32150.3,13.1
$KALMAN_Y,30901.8,-101.0,-67.2,-22578.0,0.4
$MHEAD_RNG_PITCHd_Wd,192.4,3598,-19.1,-10.556
$D_GRID,173
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-1.65,-146.6,0.0,0.0,0,161,0.00,0.00,-127.40,0.000,2,0.000,0.000,408,2215,3408
$GC,166,-1.65,-146.6,2.8,-6.7,21,191,14.12,0.00,-7.88,0.000,6,0.199,0.000,2535,2216,3802
$GC,257,-1.65,-146.6,18.6,-11.5,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2215,3804
$GC,327,-1.65,-146.6,26.3,-11.2,42,332,0.00,2.62,0.00,0.000,4,0.000,0.057,2534,3592,3804
$GC,353,-1.65,-146.6,29.4,-11.8,43,359,0.00,2.47,0.00,0.000,6,0.000,0.035,2534,2200,3806
$GC,550,-1.65,-146.6,51.1,-11.0,59,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2200,3804
$GC,742,-1.65,-146.6,71.9,-10.8,74,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2200,3805
$GC,931,-1.65,-146.6,92.6,-11.0,89,935,0.00,2.55,0.00,0.000,4,0.000,0.057,2534,3598,3804
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,959,-0.38,0.0,95.3,11.3,90,1078,1.40,0.00,114.70,0.663,6,0.104,0.000,2810,2149,3202
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1086,1.65,146.6,100.0,0.0,100,1211,2.08,2.65,113.18,0.644,4,0.061,0.056,3262,3541,2603
$GC,1239,1.68,176.3,94.2,9.1,112,1267,0.00,2.45,22.77,0.649,6,0.000,0.035,3262,2148,2482
$GC,1466,1.68,176.3,69.8,10.9,130,1471,0.00,2.55,0.00,0.000,4,0.000,0.056,3262,3543,2481
$GC,1532,1.68,176.3,62.2,11.5,134,1538,0.00,2.42,0.00,0.000,6,0.000,0.036,3262,2153,2481
$GC,1728,1.68,176.3,40.9,10.8,150,1733,0.00,2.53,0.00,0.000,4,0.000,0.057,3262,3542,2481
$GC,1775,1.68,176.3,35.6,11.7,153,1779,0.00,2.42,0.00,0.000,6,0.000,0.036,3262,2149,2481
$GC,1974,1.69,183.6,14.6,10.2,171,1985,0.00,0.00,5.07,0.701,6,0.000,0.000,3262,2149,2453
$GC,2055,1.78,251.6,7.9,7.3,183,2086,0.12,0.00,28.80,0.626,2,0.060,0.000,3292,2149,2298
$STATE,2087,end climb,SURFACE_DEPTH_REACHED
$STATE,2087,begin surface coast
$FINISH,-0.7,1.022680
$STATE,2145,end surface coast,CONTROL_FINISHED_OK
$STATE,2145,begin surface
$SM_CCo,2175,125.85,0.574,0,0,1162,500.17
$SM_GC,0.08,0.00,0.00,125.85,0.000,0.000,0.574,410,2202,1162,-11.45,0.06,500.17
$IRIDIUM_FIX,4726.11,-12252.58,111007,090931
$TT8_MAMPS,0.074399
$HUMID,2147
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,60.572
$10V_AH,10.0,40.478
$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,30.750,25.275,284.525,125.850,0.000,104.453,81.878,671.559,0.750,0.000,3669.000,11.826,352.829,1152.891,516.642,367.846,1108.029,33.339,769.570,0.000,344.725,0.000,2.489
$DEVICE_MAMPS,199.420,90.506,701.038,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.519,0.000,0.000,0.000,0.000,0.000,0.000,3669.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6467,197
$CFSIZE,260231168,243044352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,065257,4743.958,-12250.235,14,1.4,14,18.3