version: 66.02
glider: 117
mission: 4
dive: 237
start: 10 1 107 21 38 40
data:
$ID,117
$MISSION,4
$DIVE,237
$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,-22186.465
$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,41
$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
$GPS1,212615,4739.457,-12252.677,12,1.5,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.8
$GPS2,213733,4739.475,-12252.628,16,1.4,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.033
$KALMAN_X,32571.9,-11.8,131.8,-32604.0,81.8
$KALMAN_Y,16908.6,-49.9,162.9,-17603.6,28.9
$MHEAD_RNG_PITCHd_Wd,84.2,282,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.20,-53.0,0.0,0.0,0,106,0.00,0.00,-77.35,0.000,2,0.000,0.000,410,2210,2774
$GC,110,-2.25,-93.2,2.3,-4.4,13,159,12.65,2.65,-29.83,0.000,4,0.199,0.074,2404,798,3584
$GC,410,-2.25,-93.2,43.2,-15.1,48,414,0.00,2.45,0.00,0.000,6,0.000,0.038,2401,2187,3585
$GC,606,-2.25,-93.2,71.8,-14.4,63,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2187,3585
$GC,796,-2.25,-93.2,98.8,-15.2,78,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2187,3585
$STATE,944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,944,begin apogee
$GC,951,-0.38,0.0,121.2,14.8,90,1031,2.15,0.00,74.38,0.691,6,0.120,0.000,2810,2064,3203
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1035,2.25,93.2,124.8,0.0,97,1114,2.67,0.00,73.25,0.670,6,0.058,0.000,3393,2065,2821
$GC,1298,2.25,93.2,108.1,9.2,118,1302,0.00,2.60,0.00,0.000,4,0.000,0.058,3393,3483,2819
$GC,1436,2.25,93.2,94.5,9.8,128,1440,0.00,2.42,0.00,0.000,6,0.000,0.037,3393,2090,2819
$GC,1631,2.25,93.2,75.9,9.7,143,1635,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,3479,2819
$GC,1881,2.25,93.2,51.7,9.1,161,1888,0.00,2.45,0.00,0.000,6,0.000,0.036,3393,2089,2819
$GC,2078,2.25,96.1,35.0,8.6,177,2084,0.00,2.53,1.75,0.811,4,0.000,0.055,3393,3485,2810
$GC,2324,2.26,107.2,13.4,7.6,201,2342,0.00,2.45,8.65,0.696,6,0.000,0.037,3393,2076,2764
$GC,2408,2.31,147.7,8.5,4.3,214,2444,0.00,0.00,30.77,0.640,6,0.000,0.000,3393,2076,2599
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2489,begin surface coast
$FINISH,0.7,1.022616
$STATE,2594,end surface coast,CONTROL_FINISHED_OK
$STATE,2596,begin surface
$SM_CCo,2623,164.50,0.582,0,0,1163,500.17
$SM_GC,1.05,0.00,0.00,164.50,0.000,0.000,0.582,406,2215,1163,-11.47,0.42,500.17
$IRIDIUM_FIX,4722.92,-12333.43,021007,010139
$TT8_MAMPS,0.071331
$HUMID,2176
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.5,37.238
$10V_AH,10.1,22.855
$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,30.950,20.450,188.800,164.500,0.000,99.960,84.651,237.195,0.250,16.600,3540.400,16.658,447.525,1539.218,455.599,488.617,562.758,33.343,731.223,0.000,457.909,0.000,2.488
$DEVICE_MAMPS,198.653,73.632,810.719,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.218,0.000,0.000,0.000,0.000,0.000,0.000,3557.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6445,243
$CFSIZE,260231168,250413056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,222607,4739.510,-12252.384,7,1.1,24,18.3