version: 66.02
glider: 117
mission: 4
dive: 469
start: 10 11 107 2 9 27
data:
$ID,117
$MISSION,4
$DIVE,469
$D_SURF,5
$D_FLARE,2
$D_TGT,40
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-28368.1
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,39
$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
$GPS1,015350,4745.080,-12249.835,8,1.2,8,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-56.9
$GPS2,020827,4745.062,-12249.870,11,1.3,11,18.3
$SPEED_LIMITS,0.154,0.251
$TGT_NAME,default
$TGT_LATLONG,47.650,-122.867
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.228,-0.105
$KALMAN_X,35266.2,6.3,42.0,-31787.9,-2.9
$KALMAN_Y,31047.1,1.4,-99.6,-21181.4,-21.9
$MHEAD_RNG_PITCHd_Wd,96.4,14467896,-16.4,-8.889
$D_GRID,174
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-1.45,-146.6,0.0,0.0,0,140,0.00,0.00,-101.55,0.000,2,0.000,0.000,412,2202,3357
$GC,144,-1.45,-146.6,2.5,-5.8,17,175,14.55,2.67,-8.70,0.000,4,0.201,0.068,2579,3590,3803
$GC,381,-1.45,-146.6,31.9,-9.6,44,385,0.00,2.40,0.00,0.000,6,0.000,0.035,2579,2203,3805
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,481,-0.38,0.0,40.9,9.5,51,600,1.15,0.00,114.72,0.620,6,0.099,0.000,2809,2132,3202
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,605,1.45,146.6,45.0,0.0,61,729,1.88,2.62,112.62,0.602,4,0.061,0.055,3213,3539,2603
$GC,749,1.51,200.6,40.2,6.7,72,796,0.00,2.42,40.90,0.598,6,0.000,0.035,3213,2157,2384
$GC,989,1.51,200.6,18.5,9.2,92,994,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2157,2382
$GC,1062,1.51,200.6,11.4,9.6,103,1068,0.00,2.65,0.00,0.000,4,0.000,0.067,3213,748,2382
$GC,1115,1.55,232.6,7.4,7.6,111,1147,0.12,2.47,24.35,0.607,6,0.051,0.035,3247,2147,2252
$STATE,1151,end climb,SURFACE_DEPTH_REACHED
$STATE,1151,begin surface coast
$FINISH,-0.7,1.022629
$STATE,1224,end surface coast,CONTROL_FINISHED_OK
$STATE,1224,begin surface
$SM_CCo,1257,182.65,0.557,0,0,746,602.46
$SM_GC,-0.07,0.00,0.00,182.65,0.000,0.000,0.557,410,2206,746,-11.45,0.17,602.46
$IRIDIUM_FIX,4729.30,-12247.19,111007,060648
$TT8_MAMPS,0.072098
$HUMID,2122
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,24.2,999.0
$24V_AH,23.7,60.026
$10V_AH,10.0,40.130
$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,30.525,15.375,292.600,182.650,0.000,182.089,300.675,0.000,0.250,0.000,2408.000,11.177,229.703,651.445,554.194,246.902,654.745,33.327,741.154,0.000,236.646,0.000,2.475
$DEVICE_MAMPS,200.954,98.943,619.736,556.842,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,90.214,0.000,0.000,0.000,0.000,0.000,0.000,2408.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3300,128
$CFSIZE,260231168,243208192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,111007,023421,4745.044,-12249.839,15,1.2,15,18.3