version: 66.02
glider: 117
mission: 4
dive: 231
start: 10 1 107 15 44 45
data:
$ID,117
$MISSION,4
$DIVE,231
$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,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,-22069.836
$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,25
$R_STBD_OVSHOOT,38
$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
$GPS1,153020,4739.512,-12252.556,14,1.5,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.9
$GPS2,154338,4739.559,-12252.512,15,1.2,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.062
$KALMAN_X,31855.7,110.5,-127.9,-31607.9,-104.3
$KALMAN_Y,16411.2,79.8,-177.0,-16743.9,-61.4
$MHEAD_RNG_PITCHd_Wd,95.3,219,-27.7,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,107,0.00,0.00,-78.82,0.000,2,0.000,0.000,409,2214,2796
$GC,110,-2.24,-91.4,2.3,-4.6,13,159,12.52,2.53,-29.02,0.000,4,0.199,0.071,2403,3594,3576
$GC,362,-2.24,-91.4,35.3,-15.0,45,370,0.00,2.45,0.00,0.000,6,0.000,0.036,2403,2201,3578
$GC,559,-2.24,-91.4,64.1,-15.0,61,563,0.00,2.53,0.00,0.000,4,0.000,0.057,2403,3594,3578
$GC,618,-2.24,-91.4,73.3,-15.4,65,622,0.00,2.42,0.00,0.000,6,0.000,0.036,2402,2198,3578
$GC,813,-2.24,-91.4,102.4,-14.2,80,818,0.00,2.53,0.00,0.000,4,0.000,0.057,2404,3590,3578
$GC,859,-2.24,-91.4,109.0,-14.2,83,863,0.00,2.40,0.00,0.000,6,0.000,0.035,2403,2199,3578
$STATE,945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,945,begin apogee
$GC,951,-0.38,0.0,121.6,14.3,90,1032,2.15,0.00,72.85,0.693,6,0.121,0.000,2810,2074,3202
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1036,2.24,91.4,124.9,0.0,97,1116,2.67,2.72,71.22,0.672,4,0.060,0.065,3392,686,2829
$GC,1142,2.28,117.3,122.2,6.0,105,1168,0.00,2.47,19.95,0.683,6,0.000,0.035,3392,2081,2723
$GC,1356,2.28,117.3,101.6,9.5,122,1360,0.00,2.55,0.00,0.000,4,0.000,0.061,3392,3473,2722
$GC,1613,2.28,117.3,73.6,11.2,141,1617,0.00,2.42,0.00,0.000,6,0.000,0.036,3392,2082,2721
$GC,1809,2.28,117.3,52.8,10.6,156,1813,0.00,2.55,0.00,0.000,4,0.000,0.055,3392,3483,2721
$GC,2018,2.28,117.3,30.5,10.9,171,2026,0.00,2.50,0.00,0.000,6,0.000,0.036,3392,2080,2721
$GC,2220,2.29,132.2,12.2,7.2,194,2238,0.00,2.67,10.98,0.675,4,0.000,0.067,3392,680,2662
$STATE,2308,end climb,SURFACE_DEPTH_REACHED
$STATE,2309,begin surface coast
$FINISH,0.4,1.022852
$STATE,2396,end surface coast,CONTROL_FINISHED_OK
$STATE,2397,begin surface
$SM_CCo,2427,176.95,0.581,0,0,1163,500.17
$SM_GC,1.07,0.00,0.00,176.95,0.000,0.000,0.581,413,2201,1163,-11.44,0.00,500.17
$IRIDIUM_FIX,4722.92,-12251.79,011007,191946
$TT8_MAMPS,0.071331
$HUMID,2169
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.6,36.685
$10V_AH,10.1,22.407
$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,31.525,35.625,175.000,176.950,0.000,100.748,72.766,346.547,0.500,16.600,3487.400,32.442,421.145,1399.480,466.327,479.072,664.201,33.337,738.002,0.000,434.937,0.000,3.913
$DEVICE_MAMPS,198.653,70.564,693.368,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.841,0.000,0.000,0.000,0.000,0.000,0.000,3504.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6451,221
$CFSIZE,260231168,250605568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,162917,4739.470,-12252.254,12,4.5,31,18.3