version: 66.02
glider: 117
mission: 4
dive: 477
start: 10 11 107 8 59 29
data:
$ID,117
$MISSION,4
$DIVE,477
$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,602.45679
$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,-28530.516
$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,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
$GPS1,084217,4743.549,-12250.422,10,2.4,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-57.9
$GPS2,085823,4743.568,-12250.353,14,2.7,33,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.204
$KALMAN_X,35666.8,60.5,54.6,-32861.3,53.3
$KALMAN_Y,30879.4,-110.6,10.3,-23779.9,17.7
$MHEAD_RNG_PITCHd_Wd,201.5,2440,-19.1,-10.556
$D_GRID,168
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-1.65,-146.6,0.0,0.0,0,131,0.00,0.00,-95.45,0.000,2,0.000,0.000,406,2200,3194
$GC,138,-1.65,-146.6,2.1,-6.0,16,169,13.57,0.00,-13.73,0.000,6,0.202,0.000,2538,2200,3802
$GC,235,-1.65,-146.6,15.6,-11.1,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2200,3803
$GC,314,-1.65,-146.6,24.6,-11.1,40,318,0.00,2.53,0.00,0.000,4,0.000,0.058,2538,3593,3803
$GC,339,-1.65,-146.6,27.6,-11.5,41,346,0.00,2.42,0.00,0.000,6,0.000,0.035,2538,2193,3803
$GC,536,-1.65,-146.6,49.8,-11.5,57,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2193,3804
$GC,730,-1.65,-146.6,70.5,-10.9,72,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2192,3803
$GC,930,-1.65,-146.6,92.4,-10.7,88,934,0.00,2.55,0.00,0.000,4,0.000,0.057,2538,3598,3804
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,963,-0.38,0.0,95.7,11.2,89,1082,1.38,0.00,115.00,0.662,6,0.106,0.000,2809,2142,3202
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1083,begin climb
$GC,1090,1.65,146.6,100.6,0.0,99,1209,2.10,0.00,113.68,0.641,6,0.064,0.000,3261,2142,2604
$GC,1396,1.67,167.0,81.2,9.6,124,1418,0.00,0.00,15.38,0.672,6,0.000,0.000,3261,2142,2521
$GC,1608,1.67,167.0,59.1,10.7,141,1612,0.00,2.55,0.00,0.000,4,0.000,0.056,3261,3544,2520
$GC,1710,1.67,167.0,48.0,11.3,148,1714,0.00,2.42,0.00,0.000,6,0.000,0.036,3260,2149,2519
$GC,1906,1.68,174.5,27.8,10.2,163,1919,0.00,2.58,5.57,0.704,4,0.000,0.057,3261,3545,2490
$GC,1973,1.68,174.5,20.6,11.2,168,1977,0.00,2.45,0.00,0.000,6,0.000,0.036,3261,2144,2490
$STATE,2155,end climb,SURFACE_DEPTH_REACHED
$STATE,2155,begin surface coast
$FINISH,-0.7,1.022983
$STATE,2235,end surface coast,CONTROL_FINISHED_OK
$STATE,2235,begin surface
$SM_CCo,2267,209.27,0.568,0,0,746,602.46
$SM_GC,-0.11,0.00,0.00,209.27,0.000,0.000,0.568,408,2213,746,-11.46,0.37,602.46
$IRIDIUM_FIX,4726.11,-12133.51,111007,121249
$TT8_MAMPS,0.072865
$HUMID,2140
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,60.888
$10V_AH,10.0,40.697
$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,29.825,20.125,249.625,209.275,0.000,172.966,369.108,0.000,0.250,0.000,3514.000,34.050,377.313,1375.839,567.614,386.239,760.979,33.339,796.977,0.000,347.704,0.000,5.267
$DEVICE_MAMPS,201.721,67.496,704.106,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.624,0.000,0.000,0.000,0.000,0.000,0.000,3514.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6444,207
$CFSIZE,260231168,242941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,094157,4743.351,-12250.521,32,1.6,32,18.3