version: 66.02
glider: 117
mission: 4
dive: 189
start: 9 29 107 21 29 34
data:
$ID,117
$MISSION,4
$DIVE,189
$D_SURF,5
$D_FLARE,2
$D_TGT,120
$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,500
$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,-20986.326
$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,25
$R_STBD_OVSHOOT,42
$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,0
$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
$GPS1,211823,4739.437,-12252.788,10,2.1,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.7
$GPS2,212827,4739.547,-12252.673,15,1.6,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.077
$KALMAN_X,22938.9,24.6,253.2,-23189.6,16.1
$KALMAN_Y,8326.1,-37.1,264.2,-9004.7,41.6
$MHEAD_RNG_PITCHd_Wd,101.6,370,-27.7,-8.889
$D_GRID,123
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.20,-53.0,0.0,0.0,0,96,0.00,0.00,-73.40,0.000,2,0.000,0.000,412,2219,2692
$GC,99,-2.25,-97.8,2.2,-3.7,12,155,12.52,2.47,-36.22,0.000,4,0.196,0.069,2403,3587,3602
$GC,325,-2.25,-97.8,25.4,-14.1,44,333,0.00,2.42,0.00,0.000,6,0.000,0.035,2403,2203,3604
$GC,522,-2.25,-97.8,52.2,-13.7,60,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2203,3605
$GC,712,-2.25,-97.8,78.7,-13.9,75,716,0.00,2.50,0.00,0.000,4,0.000,0.056,2403,3588,3605
$GC,811,-2.25,-97.8,93.6,-15.3,82,815,0.00,2.40,0.00,0.000,6,0.000,0.035,2403,2198,3604
$STATE,1004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1010,-0.38,0.0,120.8,14.0,97,1092,2.15,0.00,78.07,0.680,6,0.121,0.000,2810,2075,3202
$STATE,1093,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1096,2.25,97.8,124.0,0.0,104,1178,2.70,0.00,77.20,0.660,6,0.061,0.000,3391,2075,2803
$GC,1364,2.25,97.8,100.6,11.7,126,1368,0.00,2.53,0.00,0.000,4,0.000,0.054,3391,3469,2801
$GC,1568,2.25,97.8,76.7,11.7,141,1572,0.00,2.40,0.00,0.000,6,0.000,0.036,3391,2087,2801
$GC,1770,2.25,97.8,55.4,10.1,157,1774,0.00,2.50,0.00,0.000,4,0.000,0.054,3391,3466,2800
$GC,1861,2.25,97.8,45.5,10.3,163,1869,0.00,2.45,0.00,0.000,6,0.000,0.035,3390,2076,2800
$GC,2058,2.25,97.8,26.8,9.6,179,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2076,2800
$GC,2253,2.26,102.1,8.6,8.4,203,2265,0.00,2.58,2.80,0.752,4,0.000,0.055,3391,3473,2785
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,4.6,1.022150
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2514,202.10,0.578,0,0,1163,500.17
$SM_GC,1.18,0.00,0.00,202.10,0.000,0.000,0.578,412,2188,1163,-11.44,-0.34,500.17
$IRIDIUM_FIX,4722.92,-12256.21,300907,010129
$TT8_MAMPS,0.028379
$HUMID,2176
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.4,999.0
$24V_AH,23.7,33.249
$10V_AH,10.2,21.304
$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,31.775,24.650,158.075,202.100,0.000,95.016,108.183,191.552,0.500,0.000,0.000,15.821,438.815,1510.824,482.044,422.443,497.535,33.353,730.401,0.000,416.269,0.000,2.489
$DEVICE_MAMPS,196.352,69.030,751.660,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6475,239
$CFSIZE,260231168,251666432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290907,221607,4739.460,-12252.436,37,1.0,42,18.3