version: 66.02
glider: 117
mission: 4
dive: 476
start: 10 11 107 8 1 6
data:
$ID,117
$MISSION,4
$DIVE,476
$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,-28495.836
$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,39
$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
$GPS1,074807,4743.754,-12250.329,12,1.7,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-54.6
$GPS2,075956,4743.775,-12250.287,11,1.7,16,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,-0.215
$KALMAN_X,35547.8,39.4,25.7,-32610.2,58.9
$KALMAN_Y,30904.9,-117.5,-19.3,-23386.0,39.7
$MHEAD_RNG_PITCHd_Wd,197.7,2803,-19.1,-10.556
$D_GRID,170
$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,-127.57,0.000,2,0.000,0.000,409,2217,3381
$GC,165,-1.65,-146.6,2.7,-6.8,21,190,13.50,0.00,-8.77,0.000,6,0.201,0.000,2535,2218,3802
$GC,257,-1.65,-146.6,17.9,-11.9,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2218,3805
$GC,327,-1.65,-146.6,25.9,-11.0,42,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2217,3805
$GC,519,-1.65,-146.6,46.6,-10.8,57,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2217,3805
$GC,711,-1.65,-146.6,67.2,-10.5,72,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2218,3805
$GC,910,-1.65,-146.6,89.0,-11.2,88,915,0.00,2.50,0.00,0.000,4,0.000,0.059,2535,3597,3805
$GC,936,-1.65,-146.6,92.4,-11.1,89,942,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2196,3805
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,976,-0.38,0.0,95.8,11.1,92,1094,1.40,0.00,114.07,0.669,6,0.104,0.000,2811,2135,3202
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1102,1.65,146.6,100.2,0.0,102,1221,2.08,0.00,113.32,0.639,6,0.062,0.000,3259,2138,2603
$GC,1410,1.68,173.7,80.1,9.2,127,1436,0.00,2.60,20.80,0.654,4,0.000,0.055,3258,3544,2492
$GC,1505,1.68,173.7,70.3,11.0,134,1509,0.00,2.42,0.00,0.000,6,0.000,0.036,3258,2159,2492
$GC,1702,1.68,174.2,49.1,10.5,149,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2159,2492
$GC,1896,1.69,181.7,29.7,10.2,164,1908,0.00,2.55,5.50,0.696,4,0.000,0.057,3259,3541,2461
$GC,1962,1.69,181.7,21.8,11.3,169,1966,0.00,2.42,0.00,0.000,6,0.000,0.036,3259,2147,2461
$STATE,2150,end climb,SURFACE_DEPTH_REACHED
$STATE,2150,begin surface coast
$FINISH,-0.7,1.022831
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2224,begin surface
$SM_CCo,2257,143.95,0.575,0,0,1162,500.17
$SM_GC,0.04,0.00,0.00,143.95,0.000,0.000,0.575,405,2199,1162,-11.47,-0.03,500.17
$IRIDIUM_FIX,4726.11,-12305.05,111007,111102
$TT8_MAMPS,0.071331
$HUMID,2164
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.6,60.781
$10V_AH,10.0,40.620
$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,29.700,15.025,253.700,143.950,0.000,60.275,37.670,367.741,0.250,0.000,3292.000,16.677,374.457,1181.292,503.743,381.986,697.603,33.338,747.952,0.000,351.115,0.000,2.489
$DEVICE_MAMPS,200.954,108.914,695.669,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.620,0.000,0.000,0.000,0.000,0.000,0.000,3292.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6457,207
$CFSIZE,260231168,242987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,084217,4743.549,-12250.422,10,2.4,29,18.3