version: 66.02
glider: 117
mission: 4
dive: 229
start: 10 1 107 13 28 25
data:
$ID,117
$MISSION,4
$DIVE,229
$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,-22002.578
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,131241,4739.418,-12253.101,7,3.4,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-55.9
$GPS2,132717,4739.451,-12253.063,14,6.6,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,0.087
$KALMAN_X,31809.2,232.8,127.9,-32630.9,-183.4
$KALMAN_Y,16308.8,212.4,38.9,-17186.1,-216.1
$MHEAD_RNG_PITCHd_Wd,47.0,826,-20.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,134,0.00,0.00,-108.88,0.000,2,0.000,0.000,412,2216,2903
$GC,137,-1.68,-97.8,2.3,-4.5,18,186,13.23,2.55,-25.98,0.000,4,0.196,0.070,2524,3590,3602
$GC,437,-1.68,-97.8,33.2,-11.0,55,441,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2199,3604
$GC,632,-1.68,-97.8,53.5,-10.2,70,637,0.00,2.60,0.00,0.000,4,0.000,0.066,2523,801,3604
$GC,692,-1.68,-97.8,59.5,-10.6,74,696,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2189,3604
$GC,887,-1.68,-97.8,79.6,-10.9,89,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2189,3604
$GC,1078,-1.68,-97.8,100.2,-11.3,104,1082,0.00,2.55,0.00,0.000,4,0.000,0.059,2523,3601,3604
$GC,1136,-1.68,-97.8,106.9,-11.0,108,1141,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2194,3604
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1235,-0.38,0.0,117.2,11.0,115,1316,1.50,0.00,76.68,0.689,6,0.106,0.000,2814,2069,3202
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,1.68,97.8,120.5,0.0,122,1404,2.10,0.00,76.15,0.668,6,0.063,0.000,3268,2069,2803
$GC,1593,1.73,132.9,107.8,6.7,144,1630,0.00,2.65,26.70,0.679,4,0.000,0.054,3268,3476,2660
$GC,1828,1.73,133.8,87.6,8.8,162,1832,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2087,2661
$GC,2023,1.74,140.1,71.0,8.5,177,2036,0.00,2.53,5.43,0.734,4,0.000,0.054,3269,3476,2630
$GC,2104,1.74,140.1,63.5,9.9,183,2108,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2072,2631
$GC,2299,1.75,147.6,45.5,8.4,198,2310,0.00,0.00,5.50,0.723,6,0.000,0.000,3269,2072,2600
$GC,2499,1.75,147.6,26.6,9.2,214,2504,0.00,2.62,0.00,0.000,4,0.000,0.067,3269,677,2601
$GC,2545,1.75,147.6,21.8,10.6,217,2549,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2082,2601
$GC,2750,1.79,187.9,6.3,6.4,246,2775,0.00,0.00,23.00,0.644,2,0.000,0.000,3269,2083,2478
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,0.3,1.023012
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2860,begin surface
$SM_CCo,2882,208.73,0.572,0,0,746,602.46
$SM_GC,0.94,0.00,0.00,208.73,0.000,0.000,0.572,406,2213,746,-11.47,0.37,602.46
$IRIDIUM_FIX,4719.74,-12254.47,011007,171744
$TT8_MAMPS,0.027612
$HUMID,2156
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,91.8,999.0
$24V_AH,23.5,36.471
$10V_AH,10.2,22.257
$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,29.825,30.450,213.450,208.725,0.000,182.101,348.740,0.000,0.750,0.000,0.000,34.499,475.998,1815.649,550.435,509.500,647.792,33.344,850.371,0.000,479.562,0.000,2.487
$DEVICE_MAMPS,196.352,69.797,734.019,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6431,263
$CFSIZE,260231168,250589184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011007,142108,4739.472,-12252.815,37,1.6,37,18.3