version: 66.02
glider: 117
mission: 4
dive: 110
start: 9 26 107 15 35 16
data:
$ID,117
$MISSION,4
$DIVE,110
$D_SURF,5
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19080.459
$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,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,41
$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
$GPS1,152721,4739.412,-12253.022,12,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.4
$GPS2,153409,4739.396,-12253.015,13,1.4,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.009
$KALMAN_X,22342.6,25.4,-35.7,-22730.4,126.6
$KALMAN_Y,10771.3,39.6,-18.0,-11518.0,107.1
$MHEAD_RNG_PITCHd_Wd,255.1,268,-27.7,-8.889
$D_GRID,116
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.20,-53.0,0.0,0.0,0,75,0.00,0.00,-49.12,0.000,2,0.000,0.000,413,2219,2446
$GC,78,-2.25,-97.8,2.2,-3.0,8,152,12.60,2.47,-52.83,0.000,4,0.200,0.069,2401,3588,3602
$GC,404,-2.25,-97.8,41.7,-15.4,47,408,0.00,2.40,0.00,0.000,6,0.000,0.035,2401,2197,3605
$GC,606,-2.25,-97.8,71.4,-15.2,63,610,0.00,2.50,0.00,0.000,4,0.000,0.055,2401,3588,3605
$GC,664,-2.25,-97.8,80.6,-16.0,67,671,0.00,2.42,0.00,0.000,6,0.000,0.035,2401,2200,3605
$GC,860,-2.25,-97.8,109.0,-13.8,83,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2200,3606
$STATE,921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,921,begin apogee
$GC,927,-0.38,0.0,117.5,13.5,88,1009,2.17,0.00,77.70,0.673,6,0.122,0.000,2813,2075,3202
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1012,2.25,97.8,120.6,0.0,95,1093,2.70,0.00,76.18,0.661,6,0.061,0.000,3390,2075,2803
$GC,1281,2.25,97.8,100.5,9.2,117,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2075,2801
$GC,1471,2.25,97.8,81.3,9.6,132,1476,0.00,2.53,0.00,0.000,4,0.000,0.056,3390,3470,2801
$GC,1490,2.25,97.8,79.3,9.8,133,1495,0.00,2.45,0.00,0.000,6,0.000,0.035,3390,2093,2801
$GC,1692,2.25,97.8,59.3,10.0,149,1696,0.00,2.50,0.00,0.000,4,0.000,0.055,3390,3473,2801
$GC,1737,2.25,97.8,54.5,10.2,152,1744,0.00,2.47,0.00,0.000,6,0.000,0.035,3390,2077,2801
$GC,1933,2.25,97.8,34.1,10.1,168,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2077,2801
$GC,2125,2.28,122.3,17.2,6.1,186,2150,0.00,2.55,17.92,0.660,4,0.000,0.056,3390,3469,2703
$GC,2401,2.37,197.8,7.1,0.4,228,2421,0.12,2.42,14.62,0.663,2,0.063,0.035,3422,2069,2624
$STATE,2422,end climb,NO_VERTICAL_VELOCITY
$STATE,2422,begin surface
$SM_CCo,2430,245.10,0.578,0,0,746,602.46
$SM_GC,1.25,13.65,0.00,0.00,0.040,0.000,0.000,408,2208,740,-11.42,0.23,603.93
$IRIDIUM_FIX,4722.92,-12251.79,260907,181829
$TT8_MAMPS,0.072098
$HUMID,2225
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.2,999.0
$24V_AH,23.8,26.713
$10V_AH,10.1,17.484
$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,31.250,25.100,186.425,245.100,0.000,62.474,43.155,131.615,0.250,12.450,3074.550,14.482,423.335,1504.728,538.859,406.330,349.300,33.342,782.732,0.000,386.830,0.000,2.489
$DEVICE_MAMPS,200.187,69.030,673.426,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.110,0.000,0.000,0.000,0.000,0.000,0.000,3087.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,231
$CFSIZE,260231168,253919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260907,162227,4739.444,-12253.262,11,1.9,11,18.3