version: 66.02
glider: 117
mission: 4
dive: 485
start: 10 11 107 16 33 3
data:
$ID,117
$MISSION,4
$DIVE,485
$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,30
$T_MISSION,70
$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,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,-28696.188
$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,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$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,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
$GPS1,161707,4741.681,-12251.262,36,1.5,36,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-60.0
$GPS2,163156,4741.634,-12251.296,12,1.5,12,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.001,-0.265
$KALMAN_X,36094.4,169.3,28.6,-34547.8,-42.4
$KALMAN_Y,30494.8,-104.0,-51.0,-26922.2,-42.5
$MHEAD_RNG_PITCHd_Wd,161.5,3221,-19.1,-10.556
$D_GRID,126
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.65,-146.6,0.0,0.0,0,138,0.00,0.00,-101.35,0.000,2,0.000,0.000,409,2161,3352
$GC,145,-1.65,-146.6,2.5,-6.2,17,176,13.50,2.60,-9.00,0.000,4,0.200,0.080,2539,811,3803
$GC,413,-1.65,-146.6,37.7,-10.7,46,419,0.00,2.45,0.00,0.000,6,0.000,0.037,2540,2203,3803
$GC,610,-1.65,-146.6,59.6,-11.6,62,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2202,3804
$GC,802,-1.65,-146.6,80.4,-11.3,77,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2202,3804
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,943,-0.38,0.0,95.0,10.5,88,1063,1.38,0.00,115.60,0.667,6,0.101,0.000,2812,2202,3202
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1071,1.65,146.6,99.1,0.0,98,1196,2.08,2.60,113.25,0.644,4,0.061,0.059,3260,3566,2604
$GC,1224,1.70,186.5,93.2,8.6,110,1261,0.00,2.47,30.75,0.644,6,0.000,0.036,3261,2163,2441
$GC,1451,1.70,186.5,68.3,11.2,128,1455,0.00,2.62,0.00,0.000,4,0.000,0.068,3260,771,2439
$GC,1490,1.70,186.5,63.7,11.7,130,1496,0.00,2.47,0.00,0.000,6,0.000,0.035,3261,2172,2439
$GC,1686,1.70,186.5,42.5,10.8,146,1691,0.00,2.55,0.00,0.000,4,0.000,0.062,3261,3567,2439
$GC,1747,1.70,186.5,35.5,11.4,150,1751,0.00,2.42,0.00,0.000,6,0.000,0.037,3260,2171,2439
$GC,1946,1.70,190.2,14.1,10.4,169,1953,0.00,2.60,2.20,0.755,4,0.000,0.058,3261,3566,2426
$GC,2007,1.72,209.4,8.1,9.6,178,2026,0.00,2.42,14.52,0.649,6,0.000,0.036,3261,2168,2348
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,-0.7,1.022908
$STATE,2117,end surface coast,CONTROL_FINISHED_OK
$STATE,2117,begin surface
$SM_CCo,2149,194.27,0.569,0,0,746,602.46
$SM_GC,-0.01,0.00,0.00,194.27,0.000,0.000,0.569,411,2163,746,-11.45,-1.05,602.46
$IRIDIUM_FIX,4722.92,-12246.42,111007,202015
$TT8_MAMPS,0.075933
$HUMID,2147
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.6,62.114
$10V_AH,10.0,41.291
$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,30.000,25.225,276.325,194.275,0.000,181.200,303.689,0.000,0.500,0.000,3309.000,12.988,352.010,1276.144,554.869,371.933,703.609,33.329,799.223,0.000,353.405,0.000,2.488
$DEVICE_MAMPS,200.187,79.768,755.495,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.234,0.000,0.000,0.000,0.000,0.000,0.000,3309.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6457,195
$CFSIZE,260231168,242679808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,171257,4741.378,-12251.180,11,1.2,11,18.3