version: 66.02
glider: 117
mission: 4
dive: 233
start: 10 1 107 17 34 6
data:
$ID,117
$MISSION,4
$DIVE,233
$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,-22123.957
$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,29
$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
$GPS1,172447,4739.420,-12252.415,11,2.5,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.9
$GPS2,173300,4739.451,-12252.370,17,9.9,36,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.206,-0.033
$KALMAN_X,32135.2,26.2,-213.7,-31544.1,59.8
$KALMAN_Y,16645.1,-4.0,-172.1,-17096.7,102.8
$MHEAD_RNG_PITCHd_Wd,242.7,1039,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.68,-97.8,0.0,0.0,0,102,0.00,0.00,-73.30,0.000,2,0.000,0.000,412,2207,2695
$GC,106,-1.68,-97.8,2.3,-4.7,12,159,13.27,0.00,-33.75,0.000,6,0.197,0.000,2525,2207,3602
$GC,225,-1.68,-97.8,10.5,-10.4,31,231,0.00,2.62,0.00,0.000,4,0.000,0.062,2525,801,3603
$GC,310,-1.68,-97.8,19.8,-11.3,44,317,0.00,2.47,0.00,0.000,6,0.000,0.036,2526,2208,3603
$GC,380,-1.68,-97.8,26.7,-9.6,50,384,0.00,2.58,0.00,0.000,4,0.000,0.058,2525,3605,3603
$GC,471,-1.68,-97.8,36.2,-10.8,56,478,0.00,2.47,0.00,0.000,6,0.000,0.035,2526,2201,3603
$GC,667,-1.68,-97.8,55.8,-10.2,72,671,0.00,2.62,0.00,0.000,4,0.000,0.065,2526,794,3603
$GC,691,-1.68,-97.8,58.5,-10.9,73,699,0.00,2.50,0.00,0.000,6,0.000,0.036,2526,2201,3603
$GC,888,-1.68,-97.8,79.2,-10.4,89,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3603
$GC,1079,-1.68,-97.8,100.1,-11.3,104,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2202,3603
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1266,begin apogee
$GC,1272,-0.38,0.0,121.0,10.9,119,1354,1.45,0.00,77.38,0.690,6,0.106,0.000,2812,2063,3202
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1357,1.68,97.8,124.3,0.0,126,1443,2.10,2.62,76.25,0.669,4,0.063,0.054,3270,3481,2802
$GC,1522,1.73,131.5,118.4,6.8,139,1554,0.00,2.42,25.92,0.676,6,0.000,0.036,3269,2092,2666
$GC,1742,1.74,143.9,100.6,8.1,156,1758,0.00,2.75,8.90,0.709,4,0.000,0.067,3270,680,2615
$GC,1819,1.74,143.9,93.3,9.7,162,1823,0.00,2.47,0.00,0.000,6,0.000,0.035,3270,2091,2615
$GC,2021,1.74,143.9,75.5,9.0,178,2025,0.00,2.53,0.00,0.000,4,0.000,0.058,3270,3475,2614
$GC,2072,1.74,143.9,70.3,10.3,181,2080,0.00,2.47,0.00,0.000,6,0.000,0.036,3270,2078,2614
$GC,2269,1.74,143.9,51.9,9.4,197,2273,0.00,2.53,0.00,0.000,4,0.000,0.054,3270,3476,2614
$GC,2334,1.74,143.9,45.6,9.6,202,2338,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2080,2614
$GC,2530,1.74,143.9,27.1,9.4,217,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2079,2614
$GC,2724,1.76,161.6,11.0,7.8,240,2743,0.00,2.65,13.52,0.661,4,0.000,0.054,3270,3482,2543
$STATE,2787,end climb,SURFACE_DEPTH_REACHED
$STATE,2787,begin surface coast
$FINISH,0.4,1.010387
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2864,155.57,0.580,0,0,1162,500.17
$SM_GC,1.06,0.00,0.00,155.57,0.000,0.000,0.580,405,2184,1162,-11.47,-0.45,500.17
$IRIDIUM_FIX,4722.92,-12250.84,011007,202040
$TT8_MAMPS,0.073632
$HUMID,2172
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.6,36.865
$10V_AH,10.1,22.553
$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,29.825,40.625,201.975,155.575,0.000,63.666,67.344,150.625,0.250,20.750,3638.250,37.749,477.286,1657.564,473.536,505.777,426.370,33.348,766.168,0.000,454.792,0.000,2.492
$DEVICE_MAMPS,197.119,66.729,708.708,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.439,0.000,0.000,0.000,0.000,0.000,0.000,3659.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6454,257
$CFSIZE,260231168,250540032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,182537,4739.455,-12252.705,32,1.2,36,18.3