version: 66.02
glider: 117
mission: 4
dive: 48
start: 9 23 107 22 7 50
data:
$ID,117
$MISSION,4
$DIVE,48
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$T_MISSION,80
$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,100
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17548.023
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,37
$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,10
$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
$GPS1,215807,4738.743,-12253.349,14,1.5,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-60.9
$GPS2,220644,4738.772,-12253.187,16,1.5,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,-0.151
$KALMAN_X,10123.1,173.5,-67.9,-10842.9,45.8
$KALMAN_Y,6406.9,30.1,-176.0,-8146.9,-102.5
$MHEAD_RNG_PITCHd_Wd,172.1,445,-27.7,-8.889
$D_GRID,136
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,82,0.00,0.00,-55.20,0.000,2,0.000,0.000,410,2099,2562
$GC,85,-2.25,-97.8,2.1,-3.6,9,146,12.52,2.53,-40.67,0.000,4,0.198,0.066,2400,3493,3603
$GC,285,-2.25,-97.8,21.3,-14.7,39,291,0.00,2.45,0.00,0.000,6,0.000,0.035,2400,2091,3605
$GC,480,-2.25,-97.8,47.8,-13.4,55,484,0.00,2.53,0.00,0.000,4,0.000,0.053,2400,3493,3605
$GC,532,-2.25,-97.8,55.2,-14.3,59,536,0.00,2.42,0.00,0.000,6,0.000,0.035,2400,2094,3605
$GC,734,-2.25,-97.8,84.0,-14.0,75,738,0.00,2.53,0.00,0.000,4,0.000,0.054,2401,3497,3605
$GC,792,-2.25,-97.8,92.8,-14.6,79,800,0.00,2.45,0.00,0.000,6,0.000,0.035,2400,2108,3605
$GC,989,-2.25,-97.8,119.8,-14.2,95,993,0.00,2.50,0.00,0.000,4,0.000,0.054,2401,3493,3606
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1008,-0.38,0.0,121.5,13.8,96,1091,2.12,0.00,77.30,0.689,6,0.123,0.000,2810,2000,3202
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1094,2.25,97.8,124.9,0.0,103,1180,2.67,2.72,75.25,0.659,4,0.061,0.067,3389,596,2803
$GC,1198,2.26,106.6,120.0,7.9,111,1210,0.00,2.53,6.55,0.700,6,0.000,0.035,3389,1989,2767
$GC,1407,2.26,106.6,97.7,11.3,128,1411,0.00,2.58,0.00,0.000,4,0.000,0.056,3389,3403,2766
$GC,1637,2.26,106.6,73.3,10.4,145,1645,0.00,2.50,0.00,0.000,6,0.000,0.036,3389,1995,2765
$GC,1833,2.26,106.6,53.2,11.1,161,1837,0.00,2.55,0.00,0.000,4,0.000,0.053,3389,3401,2765
$GC,1957,2.26,106.6,39.2,11.1,170,1965,0.00,2.47,0.00,0.000,6,0.000,0.036,3389,2003,2765
$GC,2154,2.27,111.2,20.7,8.4,186,2159,0.00,0.00,3.15,0.742,6,0.000,0.000,3389,2003,2749
$GC,2353,2.29,132.4,4.4,6.5,215,2378,0.00,2.60,15.57,0.652,4,0.000,0.052,3389,3398,2661
$STATE,2534,end climb,NO_VERTICAL_VELOCITY
$STATE,2534,begin surface
$SM_CCo,2542,235.05,0.568,0,0,746,602.46
$SM_GC,0.98,13.45,0.00,0.00,0.038,0.000,0.000,408,2090,742,-11.42,-0.28,603.44
$IRIDIUM_FIX,4719.74,-12254.47,240907,010153
$TT8_MAMPS,0.072865
$HUMID,2269
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,36
$ALTIM_TOP_PING,9.6,8.8
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.8,20.209
$10V_AH,10.1,12.534
$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,30.775,40.300,177.825,235.050,0.000,60.426,32.697,224.822,9.500,16.610,3301.390,33.532,456.516,1526.758,527.273,480.133,444.275,33.337,801.829,0.000,440.873,0.000,4.100
$DEVICE_MAMPS,197.886,67.496,742.456,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.051,0.000,0.000,0.000,0.000,0.000,0.000,3318.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,243
$CFSIZE,260231168,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,225705,4738.582,-12253.085,10,4.2,29,18.3