version: 66.02
glider: 117
mission: 4
dive: 478
start: 10 11 107 9 54 59
data:
$ID,117
$MISSION,4
$DIVE,478
$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,-28563.883
$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,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
$GPS1,094157,4743.351,-12250.521,32,1.6,32,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-54.2
$GPS2,095353,4743.377,-12250.474,12,3.7,31,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.192
$KALMAN_X,35763.3,76.8,75.4,-33145.0,68.8
$KALMAN_Y,30870.3,-106.9,29.5,-24147.8,13.2
$MHEAD_RNG_PITCHd_Wd,205.4,2067,-19.1,-10.556
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,33,-1.65,-146.6,0.0,0.0,0,163,0.00,0.00,-127.00,0.000,2,0.000,0.000,408,2213,3405
$GC,168,-1.65,-146.6,2.6,-6.6,21,193,13.62,0.00,-8.07,0.000,6,0.204,0.000,2535,2215,3803
$GC,259,-1.65,-146.6,18.2,-12.3,35,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2214,3805
$GC,330,-1.65,-146.6,25.9,-10.8,42,334,0.00,2.65,0.00,0.000,4,0.000,0.065,2536,801,3805
$GC,356,-1.65,-146.6,28.9,-10.9,43,362,0.00,2.45,0.00,0.000,6,0.000,0.036,2535,2193,3805
$GC,552,-1.65,-146.6,50.9,-11.2,59,557,0.00,2.55,0.00,0.000,4,0.000,0.059,2536,3600,3805
$GC,578,-1.65,-146.6,54.2,-12.4,60,584,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2203,3805
$GC,775,-1.65,-146.6,75.8,-10.8,76,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2204,3805
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,959,-0.38,0.0,95.6,11.1,90,1079,1.40,0.00,114.30,0.663,6,0.104,0.000,2812,2132,3202
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1086,1.65,146.6,99.5,0.0,100,1211,2.05,2.65,113.03,0.641,4,0.061,0.064,3262,755,2604
$GC,1231,1.70,190.3,93.8,8.4,111,1274,0.00,2.47,33.55,0.638,6,0.000,0.035,3261,2150,2425
$GC,1464,1.70,190.3,69.3,10.6,130,1468,0.00,2.55,0.00,0.000,4,0.000,0.061,3261,3544,2425
$GC,1570,1.70,190.3,56.7,12.1,137,1576,0.00,2.42,0.00,0.000,6,0.000,0.036,3261,2153,2425
$GC,1766,1.70,190.3,34.7,11.7,153,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2151,2425
$GC,1958,1.71,194.6,13.9,10.3,172,1964,0.00,0.00,2.85,0.728,6,0.000,0.000,3262,2151,2408
$GC,2031,1.76,235.8,7.3,8.6,183,2063,0.00,0.00,29.58,0.620,2,0.000,0.000,3261,2151,2250
$STATE,2064,end climb,SURFACE_DEPTH_REACHED
$STATE,2064,begin surface coast
$FINISH,-0.6,1.022907
$STATE,2121,end surface coast,CONTROL_FINISHED_OK
$STATE,2121,begin surface
$SM_CCo,2151,120.55,0.568,0,0,1162,500.17
$SM_GC,0.09,0.00,0.00,120.55,0.000,0.000,0.568,408,2217,1162,-11.46,0.45,500.17
$IRIDIUM_FIX,4726.11,-12259.69,111007,121218
$TT8_MAMPS,0.071331
$HUMID,2165
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.6,60.993
$10V_AH,10.0,40.768
$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,29.900,20.325,293.300,120.550,0.000,57.958,31.613,366.893,0.250,0.000,3216.000,32.736,343.268,1076.546,515.072,390.589,687.997,33.335,767.495,0.000,343.583,0.000,2.488
$DEVICE_MAMPS,204.022,84.370,727.883,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.584,0.000,0.000,0.000,0.000,0.000,0.000,3216.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6462,197
$CFSIZE,260231168,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,103428,4743.146,-12250.678,38,2.1,57,18.3