version: 66.02
glider: 117
mission: 4
dive: 285
start: 10 3 107 22 23 47
data:
$ID,117
$MISSION,4
$DIVE,285
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-23412.311
$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,30
$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,3
$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
$GPS1,220825,4744.460,-12250.526,41,1.1,41,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-57.5
$GPS2,222239,4744.602,-12250.422,18,2.0,18,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,-0.084
$KALMAN_X,39112.9,-16.7,42.3,-36301.1,148.5
$KALMAN_Y,22402.6,6.6,-44.8,-13454.7,124.7
$MHEAD_RNG_PITCHd_Wd,207.9,59,-27.4,-7.037
$D_GRID,165
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.16,-37.3,0.0,0.0,0,122,0.00,0.00,-90.10,0.000,2,0.000,0.000,412,2201,2989
$GC,126,-2.19,-62.7,2.2,-3.8,15,162,12.80,2.67,-15.75,0.000,4,0.202,0.075,2415,798,3461
$GC,169,-2.19,-66.4,5.4,-6.6,22,176,0.00,2.47,-0.32,0.000,6,0.000,0.037,2414,2202,3474
$GC,241,-2.19,-66.4,13.8,-12.1,33,247,0.00,2.60,0.00,0.000,4,0.000,0.064,2415,798,3475
$GC,280,-2.19,-66.4,18.2,-11.9,39,286,0.00,2.45,0.00,0.000,6,0.000,0.037,2415,2200,3475
$GC,349,-2.19,-66.4,25.8,-10.6,46,353,0.00,2.60,0.00,0.000,4,0.000,0.064,2415,800,3475
$GC,382,-2.19,-66.4,29.4,-11.6,48,386,0.00,2.45,0.00,0.000,6,0.000,0.037,2415,2200,3475
$GC,577,-2.19,-66.4,51.9,-12.0,63,581,0.00,2.53,0.00,0.000,4,0.000,0.061,2415,3596,3477
$GC,628,-2.19,-66.4,58.3,-12.2,66,635,0.00,2.45,0.00,0.000,6,0.000,0.036,2415,2197,3475
$GC,827,-2.19,-66.4,80.7,-11.3,82,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2197,3475
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,968,-0.38,0.0,95.8,10.8,93,1025,2.10,0.00,52.88,0.680,6,0.120,0.000,2813,2073,3202
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1031,2.19,66.4,97.2,0.0,98,1092,2.60,2.65,52.25,0.667,4,0.058,0.065,3378,687,2930
$GC,1137,2.19,66.4,90.7,8.0,106,1144,0.00,2.47,0.00,0.000,6,0.000,0.036,3378,2072,2929
$GC,1334,2.19,66.4,75.3,7.5,122,1338,0.00,2.55,0.00,0.000,4,0.000,0.062,3378,3475,2928
$GC,1486,2.19,66.4,63.8,8.0,133,1490,0.00,2.42,0.00,0.000,6,0.000,0.037,3378,2082,2927
$GC,1681,2.19,66.4,49.2,7.3,148,1685,0.00,2.53,0.00,0.000,4,0.000,0.057,3378,3475,2928
$GC,1766,2.19,66.4,42.6,7.4,154,1770,0.00,2.42,0.00,0.000,6,0.000,0.037,3378,2079,2927
$GC,1962,2.19,66.4,28.1,7.3,169,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2079,2927
$GC,2155,2.19,66.4,13.9,7.3,190,2161,0.00,2.55,0.00,0.000,4,0.000,0.058,3378,3481,2927
$GC,2235,2.20,71.3,8.8,6.4,202,2247,0.00,2.42,3.03,0.760,6,0.000,0.036,3378,2079,2911
$GC,2313,2.26,124.4,7.3,0.3,214,2361,0.00,2.58,40.95,0.635,4,0.000,0.056,3378,3475,2693
$STATE,2425,end climb,SURFACE_DEPTH_REACHED
$STATE,2425,begin surface coast
$FINISH,0.0,1.010292
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2547,175.80,0.580,0,0,1162,500.17
$SM_GC,0.69,0.00,0.00,175.80,0.000,0.000,0.580,410,2186,1162,-11.45,-0.40,500.17
$IRIDIUM_FIX,4726.11,-12250.84,041007,020209
$TT8_MAMPS,0.090506
$HUMID,2118
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.7,8.5
$24V_AH,23.7,41.695
$10V_AH,9.9,26.594
$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,31.050,45.250,149.100,175.800,0.000,105.934,72.411,334.814,0.750,0.000,3696.000,18.739,432.711,1516.080,455.256,470.416,713.761,33.347,731.034,0.000,427.610,0.000,2.461
$DEVICE_MAMPS,202.488,75.166,760.097,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.225,0.000,0.000,0.000,0.000,0.000,3265.290,3696.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.393,51.000
$DATA_FILE_SIZE,6430,245
$CFSIZE,260231168,248848384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,231017,4744.549,-12250.548,11,2.2,30,18.3