version: 66.02
glider: 117
mission: 4
dive: 487
start: 10 11 107 18 21 35
data:
$ID,117
$MISSION,4
$DIVE,487
$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,-28746.777
$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
$GPS1,180457,4741.111,-12251.139,12,1.5,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-60.9
$GPS2,182029,4741.120,-12251.135,16,2.6,35,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,-0.257
$KALMAN_X,36323.9,171.5,0.3,-34551.0,30.6
$KALMAN_Y,30505.6,-105.4,-75.5,-27859.7,21.2
$MHEAD_RNG_PITCHd_Wd,176.1,2306,-19.1,-10.556
$D_GRID,102
$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,-146.6,0.0,0.0,0,132,0.00,0.00,-95.32,0.000,2,0.000,0.000,408,2157,3198
$GC,139,-1.65,-146.6,2.1,-5.0,16,176,13.57,2.62,-13.38,0.000,4,0.202,0.079,2536,803,3803
$GC,342,-1.65,-146.6,28.8,-12.4,41,349,0.00,2.45,0.00,0.000,6,0.000,0.037,2536,2200,3804
$GC,539,-1.65,-146.6,51.3,-11.5,57,543,0.00,2.55,0.00,0.000,4,0.000,0.060,2536,3604,3804
$GC,586,-1.65,-146.6,56.9,-12.4,60,590,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2195,3804
$GC,782,-1.65,-146.6,79.6,-11.8,75,787,0.00,2.55,0.00,0.000,4,0.000,0.057,2536,3598,3804
$GC,822,-1.65,-146.6,84.3,-11.7,77,828,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2198,3804
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,926,begin apogee
$GC,934,-0.38,0.0,96.2,10.6,86,1054,1.38,0.00,115.53,0.669,6,0.103,0.000,2808,2198,3201
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1062,1.65,146.6,100.3,0.0,96,1187,2.08,2.60,113.28,0.644,4,0.061,0.056,3261,3570,2604
$GC,1256,1.65,149.8,89.2,10.4,111,1263,0.00,2.47,2.03,0.764,6,0.000,0.036,3261,2161,2591
$GC,1453,1.66,158.2,69.4,10.2,126,1466,0.00,2.65,6.50,0.702,4,0.000,0.067,3261,771,2557
$GC,1493,1.66,158.2,65.0,11.0,129,1498,0.00,2.50,0.00,0.000,6,0.000,0.036,3261,2174,2556
$GC,1692,1.68,170.0,45.4,10.0,144,1707,0.00,2.65,9.07,0.683,4,0.000,0.060,3261,3572,2508
$GC,1863,1.68,170.0,26.2,11.2,157,1867,0.00,2.45,0.00,0.000,6,0.000,0.036,3261,2169,2507
$GC,2066,1.76,236.8,6.8,7.3,183,2092,0.00,0.00,23.73,0.639,2,0.000,0.000,3261,2169,2379
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,-0.7,1.022940
$STATE,2170,end surface coast,CONTROL_FINISHED_OK
$STATE,2170,begin surface
$SM_CCo,2200,197.88,0.571,0,0,746,602.46
$SM_GC,0.05,0.00,0.00,197.88,0.000,0.000,0.571,412,2164,746,-11.44,-1.02,602.46
$IRIDIUM_FIX,4726.11,-12253.53,111007,222232
$TT8_MAMPS,0.072098
$HUMID,2135
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,999.0
$24V_AH,23.6,62.325
$10V_AH,10.0,41.435
$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,30.100,30.375,270.125,197.875,0.000,177.735,331.398,0.000,0.500,0.000,3390.000,36.328,369.696,1283.957,555.467,417.690,727.494,33.335,813.158,0.000,376.480,0.000,2.488
$DEVICE_MAMPS,202.488,79.001,763.932,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.077,0.000,0.000,0.000,0.000,0.000,0.000,3390.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6425,199
$CFSIZE,260231168,242622464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,190237,4740.857,-12251.157,15,1.8,25,18.3