version: 66.02
glider: 117
mission: 4
dive: 489
start: 10 11 107 20 12 34
data:
$ID,117
$MISSION,4
$DIVE,489
$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,-28799.449
$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,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,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
$GPS1,195632,4740.593,-12251.281,12,2.0,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-61.8
$GPS2,201127,4740.608,-12251.370,12,1.6,12,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,-0.263
$KALMAN_X,36323.4,153.6,-1.3,-34819.0,3.1
$KALMAN_Y,30457.6,-92.8,-53.3,-28794.6,17.0
$MHEAD_RNG_PITCHd_Wd,169.0,1321,-19.1,-10.556
$D_GRID,98
$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,-146.6,0.0,0.0,0,147,0.00,0.00,-107.45,0.000,2,0.000,0.000,410,2161,3489
$GC,151,-1.65,-146.6,2.5,-5.3,18,177,13.55,2.65,-5.88,0.000,4,0.202,0.081,2537,800,3802
$GC,297,-1.65,-146.6,25.9,-10.8,37,301,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2200,3804
$GC,493,-1.65,-146.6,47.5,-11.3,52,497,0.00,2.55,0.00,0.000,4,0.000,0.060,2537,3601,3803
$GC,540,-1.65,-146.6,52.9,-11.3,55,545,0.00,2.45,0.00,0.000,6,0.000,0.035,2537,2194,3804
$GC,737,-1.65,-146.6,74.2,-10.8,70,741,0.00,2.55,0.00,0.000,4,0.000,0.056,2537,3597,3803
$GC,770,-1.65,-146.6,77.9,-11.3,72,775,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2201,3803
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,926,begin apogee
$GC,937,-0.38,0.0,95.5,11.4,84,1057,1.38,0.00,115.57,0.673,6,0.104,0.000,2808,2201,3202
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1065,1.65,146.6,102.9,0.0,94,1191,2.08,2.80,113.45,0.647,4,0.060,0.064,3260,770,2604
$GC,1298,1.65,146.6,90.4,10.7,112,1302,0.00,2.47,0.00,0.000,6,0.000,0.035,3260,2171,2602
$GC,1494,1.67,164.4,70.5,9.7,127,1513,0.00,2.65,13.43,0.676,4,0.000,0.060,3260,3566,2531
$GC,1572,1.67,164.4,62.4,10.9,132,1578,0.00,2.45,0.00,0.000,6,0.000,0.036,3260,2168,2530
$GC,1769,1.68,175.7,42.0,10.0,148,1782,0.00,2.62,8.45,0.689,4,0.000,0.057,3261,3569,2484
$GC,1928,1.68,175.7,24.6,10.9,160,1933,0.00,2.45,0.00,0.000,6,0.000,0.036,3261,2168,2485
$GC,2132,1.74,221.2,5.0,8.4,187,2140,0.00,0.00,5.70,0.700,2,0.000,0.000,3260,2168,2453
$STATE,2141,end climb,SURFACE_DEPTH_REACHED
$STATE,2141,begin surface coast
$FINISH,-0.7,1.022858
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2245,206.27,0.571,0,0,746,602.46
$SM_GC,-0.07,0.00,0.00,206.27,0.000,0.000,0.571,412,2164,746,-11.45,-1.02,602.46
$IRIDIUM_FIX,4722.92,-12251.79,121007,000038
$TT8_MAMPS,0.071331
$HUMID,2138
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.5,62.535
$10V_AH,10.0,41.582
$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,30.075,30.550,256.600,206.275,0.000,174.371,315.361,0.000,0.750,0.000,3416.000,12.838,373.961,1333.264,551.649,400.283,713.061,33.338,809.262,0.000,381.784,0.000,2.489
$DEVICE_MAMPS,201.721,80.535,700.271,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.211,0.000,0.000,0.000,0.000,0.000,0.000,3416.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6466,199
$CFSIZE,260231168,242556928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,205415,4740.371,-12251.479,11,1.4,11,18.3