version: 66.02
glider: 117
mission: 4
dive: 287
start: 10 4 107 1 3 54
data:
$ID,117
$MISSION,4
$DIVE,287
$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,602.45679
$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,-23457.758
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,004411,4744.697,-12250.369,11,2.6,31,18.3
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,4
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-56.2
$GPS2,010245,4744.816,-12250.323,13,1.5,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,-0.189
$KALMAN_X,39349.9,128.1,121.6,-36640.9,64.8
$KALMAN_Y,23210.9,187.4,33.2,-14122.4,296.0
$MHEAD_RNG_PITCHd_Wd,173.4,375,-16.6,-7.037
$D_GRID,164
$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,-1.39,-97.8,0.0,0.0,0,146,0.00,0.00,-114.12,0.000,2,0.000,0.000,406,2189,2996
$GC,150,-1.39,-97.8,2.1,-3.7,19,193,13.75,2.60,-20.17,0.000,4,0.199,0.070,2589,3594,3604
$GC,226,-1.39,-97.8,8.1,-9.9,31,232,0.00,2.42,0.00,0.000,6,0.000,0.035,2589,2196,3605
$GC,297,-1.39,-97.8,15.1,-9.7,42,303,0.00,2.60,0.00,0.000,4,0.000,0.065,2589,800,3605
$GC,323,-1.39,-97.8,17.2,-8.5,46,329,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2203,3605
$GC,399,-1.39,-97.8,23.3,-8.0,55,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,3606
$GC,589,-1.39,-97.8,38.4,-8.1,70,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,3606
$GC,778,-1.39,-97.8,52.5,-7.2,85,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,3607
$GC,967,-1.39,-97.8,66.4,-7.6,100,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,3606
$GC,1157,-1.39,-97.8,80.8,-7.9,115,1161,0.00,2.50,0.00,0.000,4,0.000,0.059,2589,3600,3606
$GC,1189,-1.39,-97.8,83.5,-8.6,117,1193,0.00,2.42,0.00,0.000,6,0.000,0.035,2589,2194,3608
$STATE,1344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1344,begin apogee
$GC,1351,-0.38,0.0,96.0,7.6,129,1431,1.12,0.00,74.82,0.668,6,0.099,0.000,2811,2069,3202
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1461,1.39,97.8,98.4,0.0,136,1546,1.80,2.67,77.07,0.657,4,0.064,0.068,3201,684,2805
$GC,1573,1.44,131.2,95.6,5.4,145,1604,0.00,2.47,25.88,0.658,6,0.000,0.036,3201,2083,2666
$GC,1792,1.44,131.2,79.6,7.9,162,1796,0.00,2.53,0.00,0.000,4,0.000,0.059,3201,3475,2669
$GC,1911,1.44,131.2,70.3,7.8,170,1917,0.00,2.42,0.00,0.000,6,0.000,0.037,3201,2086,2669
$GC,2106,1.44,131.2,55.4,7.4,186,2111,0.00,2.53,0.00,0.000,4,0.000,0.055,3201,3476,2669
$GC,2184,1.44,131.2,49.1,7.9,191,2191,0.00,2.47,0.00,0.000,6,0.000,0.037,3201,2079,2669
$GC,2381,1.44,131.2,33.6,7.7,207,2385,0.00,2.53,0.00,0.000,4,0.000,0.054,3201,3472,2668
$GC,2432,1.44,131.2,29.6,7.7,210,2439,0.00,2.45,0.00,0.000,6,0.000,0.036,3202,2084,2669
$GC,2631,1.44,131.2,15.0,7.1,231,2637,0.00,2.53,0.00,0.000,4,0.000,0.055,3201,3475,2670
$STATE,2800,end climb,SURFACE_DEPTH_REACHED
$STATE,2800,begin surface coast
$FINISH,0.0,1.010927
$STATE,2927,end surface coast,CONTROL_FINISHED_OK
$STATE,2927,begin surface
$SM_CCo,2963,229.18,0.576,0,0,745,602.46
$SM_GC,0.72,0.00,0.00,229.18,0.000,0.000,0.576,407,2185,745,-11.47,-0.42,602.46
$IRIDIUM_FIX,4729.30,-12252.58,041007,040413
$TT8_MAMPS,0.09204
$HUMID,2124
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,41.977
$10V_AH,9.9,26.869
$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,29.200,40.025,177.775,229.175,0.000,182.209,283.665,164.107,1.000,4.150,4435.850,13.641,467.634,1906.839,554.014,504.414,883.389,33.344,845.761,0.000,464.119,0.000,2.493
$DEVICE_MAMPS,198.653,69.797,668.057,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.292,0.000,0.000,0.000,0.000,0.000,3925.150,4440.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6464,276
$CFSIZE,260231168,248643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,015808,4744.544,-12250.338,15,2.0,26,18.3