version: 66.02
glider: 117
mission: 4
dive: 252
start: 10 2 107 12 58 35
data:
$ID,117
$MISSION,4
$DIVE,252
$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,-22550.037
$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,40
$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
$GPS1,124908,4739.337,-12252.537,31,1.7,31,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-55.7
$GPS2,125729,4739.409,-12252.480,13,2.2,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,0.022
$KALMAN_X,35024.5,400.4,223.7,-35377.4,45.1
$KALMAN_Y,19388.1,367.3,209.9,-20667.8,0.9
$MHEAD_RNG_PITCHd_Wd,257.8,907,-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,-97.8,0.0,0.0,0,108,0.00,0.00,-79.20,0.000,2,0.000,0.000,405,2211,2783
$GC,112,-1.68,-97.8,2.0,-3.9,13,162,13.38,2.67,-30.55,0.000,4,0.199,0.074,2527,798,3603
$GC,261,-1.68,-97.8,14.8,-9.9,36,267,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2191,3604
$GC,338,-1.68,-97.8,23.1,-10.3,46,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,529,-1.68,-97.8,41.4,-9.5,61,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,718,-1.68,-97.8,59.0,-9.4,76,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2191,3604
$GC,909,-1.68,-97.8,77.8,-10.0,91,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,1097,-1.68,-97.8,96.2,-9.3,106,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2191,3604
$GC,1286,-1.68,-97.8,113.9,-9.0,121,1290,0.00,2.60,0.00,0.000,4,0.000,0.065,2526,800,3605
$GC,1311,-1.68,-97.8,116.2,-8.8,122,1318,0.00,2.47,0.00,0.000,6,0.000,0.036,2526,2193,3605
$STATE,1353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1354,begin apogee
$GC,1360,-0.38,0.0,120.5,9.8,126,1441,1.48,0.00,77.43,0.704,6,0.107,0.000,2811,2066,3202
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1445,1.68,97.8,122.9,0.0,133,1525,2.15,0.00,76.35,0.677,6,0.062,0.000,3269,2066,2803
$GC,1714,1.71,119.7,107.3,7.6,155,1739,0.00,2.65,16.42,0.693,4,0.000,0.057,3269,3475,2714
$GC,1836,1.71,119.7,96.4,9.5,164,1844,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2090,2714
$GC,2033,1.71,120.1,79.2,8.9,180,2038,0.00,2.65,0.00,0.000,4,0.000,0.067,3268,680,2713
$GC,2085,1.71,121.5,74.4,8.8,183,2092,0.00,2.47,0.00,0.000,6,0.000,0.035,3269,2088,2713
$GC,2281,1.73,134.0,58.1,8.1,199,2297,0.00,2.58,11.05,0.699,4,0.000,0.059,3269,3478,2655
$GC,2365,1.73,137.1,50.7,8.7,205,2372,0.00,2.45,2.25,0.788,6,0.000,0.036,3269,2071,2642
$GC,2560,1.73,137.1,33.2,9.1,221,2565,0.00,2.60,0.00,0.000,4,0.000,0.067,3269,683,2642
$GC,2585,1.73,137.1,30.6,10.1,222,2593,0.00,2.47,0.00,0.000,6,0.000,0.035,3269,2077,2642
$GC,2786,1.73,138.4,12.7,8.8,244,2792,0.00,2.53,0.00,0.000,4,0.000,0.059,3269,3473,2642
$GC,2819,1.74,144.5,10.0,8.5,249,2831,0.00,2.42,5.30,0.720,6,0.000,0.036,3269,2073,2613
$STATE,2888,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,0.3,1.022867
$STATE,2942,end surface coast,CONTROL_FINISHED_OK
$STATE,2942,begin surface
$SM_CCo,2971,161.20,0.589,0,0,1162,500.17
$SM_GC,0.80,0.00,0.00,161.20,0.000,0.000,0.589,405,2207,1162,-11.48,0.20,500.17
$IRIDIUM_FIX,4722.92,-12254.47,021007,151525
$TT8_MAMPS,0.071331
$HUMID,2173
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.6,38.582
$10V_AH,10.1,24.046
$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,30.025,35.850,188.800,161.200,0.000,62.345,39.195,186.851,0.500,33.200,3731.800,33.257,496.030,1746.591,481.042,492.039,444.048,33.350,761.099,0.000,446.004,0.000,2.491
$DEVICE_MAMPS,198.653,74.399,788.476,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.305,0.000,0.000,0.000,0.000,0.000,0.000,3765.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6454,268
$CFSIZE,260231168,249905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,021007,135153,4739.373,-12253.010,10,3.0,29,18.3