version: 66.02
glider: 117
mission: 4
dive: 234
start: 10 1 107 18 37 28
data:
$ID,117
$MISSION,4
$DIVE,234
$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,-22137.217
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,182537,4739.455,-12252.705,32,1.2,36,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.0
$GPS2,183621,4739.528,-12252.601,12,1.0,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,-0.071
$KALMAN_X,32364.7,5.5,-176.1,-32078.6,161.6
$KALMAN_Y,16795.9,-17.5,-92.0,-17171.6,137.3
$MHEAD_RNG_PITCHd_Wd,231.7,759,-20.3,-8.889
$D_GRID,123
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,101,0.00,0.00,-72.82,0.000,2,0.000,0.000,405,2183,2671
$GC,105,-1.68,-97.8,2.1,-4.2,12,159,13.32,0.00,-34.88,0.000,6,0.197,0.000,2525,2184,3602
$GC,225,-1.68,-97.8,10.1,-9.2,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2184,3603
$GC,297,-1.68,-97.8,17.3,-11.1,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2183,3603
$GC,373,-1.68,-97.8,25.6,-11.0,50,377,0.00,2.55,0.00,0.000,4,0.000,0.058,2525,3597,3603
$GC,497,-1.68,-97.8,39.1,-10.5,59,504,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2202,3603
$GC,693,-1.68,-97.8,59.4,-10.3,75,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3603
$GC,884,-1.68,-97.8,79.0,-10.1,90,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3603
$GC,1073,-1.68,-97.8,98.3,-10.1,105,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2201,3603
$GC,1263,-1.68,-97.8,116.2,-9.3,120,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3603
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1315,-0.38,0.0,121.1,9.7,124,1398,1.48,0.00,77.95,0.690,6,0.107,0.000,2812,2075,3202
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1401,1.68,97.8,124.0,0.0,131,1485,2.12,2.60,76.30,0.668,4,0.064,0.054,3264,3477,2802
$GC,1533,1.72,126.5,119.3,7.1,142,1561,0.00,2.45,22.12,0.678,6,0.000,0.035,3264,2076,2685
$GC,1759,1.72,126.5,98.6,9.2,160,1763,0.00,2.55,0.00,0.000,4,0.000,0.054,3264,3476,2684
$GC,1837,1.72,126.5,90.9,10.0,165,1844,0.00,2.47,0.00,0.000,6,0.000,0.035,3264,2076,2684
$GC,2033,1.72,126.5,72.6,9.2,181,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2076,2684
$GC,2224,1.72,126.5,55.1,9.0,196,2228,0.00,2.55,0.00,0.000,4,0.000,0.054,3264,3485,2684
$GC,2296,1.72,126.5,47.9,9.9,201,2300,0.00,2.45,0.00,0.000,6,0.000,0.035,3265,2074,2684
$GC,2492,1.73,132.5,30.5,8.5,216,2504,0.00,2.60,4.07,0.738,4,0.000,0.054,3264,3475,2661
$GC,2557,1.73,138.1,25.0,8.5,221,2569,0.00,2.45,4.10,0.730,6,0.000,0.035,3264,2072,2639
$GC,2764,1.81,197.0,10.6,5.3,247,2820,0.12,2.72,45.28,0.630,4,0.059,0.054,3294,3469,2397
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.4,1.010890
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2901,136.93,0.578,0,0,1162,500.17
$SM_GC,1.06,0.00,0.00,136.93,0.000,0.000,0.578,407,2191,1162,-11.47,-0.25,500.17
$IRIDIUM_FIX,4722.92,-12256.21,011007,222202
$TT8_MAMPS,0.072098
$HUMID,2162
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.6,36.963
$10V_AH,10.1,22.633
$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,30.025,30.275,229.825,136.925,0.000,98.859,67.665,224.415,0.500,16.600,3821.400,12.630,480.189,1726.025,477.411,485.792,541.027,33.342,774.470,0.000,460.446,0.000,2.490
$DEVICE_MAMPS,197.119,59.059,737.854,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.306,0.000,0.000,0.000,0.000,0.000,0.000,3838.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6464,264
$CFSIZE,260231168,250503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,192851,4739.449,-12252.908,9,2.0,9,18.3