version: 66.02
glider: 117
mission: 4
dive: 226
start: 10 1 107 10 11 40
data:
$ID,117
$MISSION,4
$DIVE,226
$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,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,-21921.01
$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,32
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,095645,4739.423,-12252.367,12,2.0,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.5
$GPS2,101032,4739.483,-12252.293,40,1.6,40,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.026
$KALMAN_X,31769.0,319.7,287.3,-31874.1,107.4
$KALMAN_Y,16543.2,293.2,218.9,-17622.1,58.9
$MHEAD_RNG_PITCHd_Wd,244.5,1134,-20.3,-8.889
$D_GRID,124
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,115,0.00,0.00,-91.15,0.000,2,0.000,0.000,410,2182,2583
$GC,119,-1.68,-97.8,2.2,-3.7,15,181,13.32,2.58,-41.92,0.000,4,0.197,0.074,2526,800,3602
$GC,262,-1.68,-97.8,11.2,-9.8,37,268,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2198,3603
$GC,334,-1.68,-97.8,18.7,-11.0,48,340,0.00,2.53,0.00,0.000,4,0.000,0.059,2526,3595,3603
$GC,453,-1.68,-97.8,31.7,-11.0,59,458,0.00,2.42,0.00,0.000,6,0.000,0.036,2526,2198,3603
$GC,648,-1.68,-97.8,52.5,-10.1,74,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2198,3603
$GC,841,-1.68,-97.8,71.3,-10.0,89,845,0.00,2.53,0.00,0.000,4,0.000,0.057,2526,3596,3603
$GC,905,-1.68,-97.8,78.5,-10.6,93,912,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2194,3603
$GC,1101,-1.68,-97.8,97.7,-9.8,109,1106,0.00,2.60,0.00,0.000,4,0.000,0.067,2526,802,3603
$GC,1147,-1.68,-97.8,102.4,-10.2,112,1152,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2202,3603
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1328,begin apogee
$GC,1334,-0.38,0.0,120.6,10.2,126,1415,1.48,0.00,73.78,0.686,6,0.107,0.000,2813,2063,3203
$STATE,1416,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1418,1.68,97.8,123.0,0.0,133,1503,2.10,0.00,77.72,0.667,6,0.062,0.000,3272,2064,2804
$GC,1692,1.71,120.0,107.4,7.5,155,1717,0.00,2.62,16.83,0.686,4,0.000,0.055,3272,3468,2712
$GC,1854,1.71,122.2,93.3,8.8,167,1863,0.00,2.42,1.58,0.792,6,0.000,0.036,3272,2095,2703
$GC,2051,1.71,122.2,75.8,9.1,183,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2095,2706
$GC,2242,1.72,129.6,59.3,8.4,198,2255,0.00,2.53,5.82,0.718,4,0.000,0.054,3272,3477,2673
$GC,2373,1.72,129.6,46.2,10.4,208,2377,0.00,2.42,0.00,0.000,6,0.000,0.036,3272,2079,2675
$GC,2575,1.74,144.6,28.8,8.0,224,2589,0.00,0.00,11.20,0.680,6,0.000,0.000,3272,2079,2612
$GC,2781,1.76,163.2,11.6,7.8,247,2801,0.00,2.62,14.10,0.660,4,0.000,0.054,3271,3476,2536
$STATE,2866,end climb,SURFACE_DEPTH_REACHED
$STATE,2866,begin surface coast
$FINISH,0.3,1.022835
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2950,214.62,0.571,0,0,746,602.46
$SM_GC,0.89,0.00,0.00,214.62,0.000,0.000,0.571,406,2187,746,-11.47,-0.37,602.46
$IRIDIUM_FIX,4726.11,-12456.90,011007,141444
$TT8_MAMPS,0.027612
$HUMID,2142
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.6,36.195
$10V_AH,10.2,22.177
$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,29.850,35.075,201.025,214.625,0.000,172.914,300.677,0.000,0.250,0.000,0.000,40.570,487.368,1877.580,555.734,506.771,595.202,33.347,849.057,0.000,471.406,0.000,2.492
$DEVICE_MAMPS,197.119,73.632,792.311,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6441,269
$CFSIZE,260231168,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,110535,4739.369,-12252.804,16,4.3,35,18.3