version: 66.02
glider: 117
mission: 4
dive: 192
start: 9 30 107 0 25 52
data:
$ID,117
$MISSION,4
$DIVE,192
$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,-21048.824
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,001835,4739.422,-12252.731,9,2.1,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.9
$GPS2,002445,4739.490,-12252.649,11,1.6,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.206,-0.034
$KALMAN_X,23328.5,80.8,66.7,-23419.9,6.2
$KALMAN_Y,8923.6,80.5,130.0,-9688.5,58.6
$MHEAD_RNG_PITCHd_Wd,242.2,691,-20.3,-8.889
$D_GRID,124
$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,-1.68,-97.8,0.0,0.0,0,103,0.00,0.00,-79.40,0.000,2,0.000,0.000,411,2216,2816
$GC,105,-1.68,-97.8,2.3,-4.6,13,155,13.32,2.65,-28.23,0.000,4,0.198,0.073,2526,798,3603
$GC,181,-1.68,-97.8,6.5,-8.0,25,187,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2200,3604
$GC,253,-1.68,-97.8,12.1,-9.5,36,259,0.00,2.60,0.00,0.000,4,0.000,0.062,2526,799,3605
$GC,265,-1.68,-97.8,13.2,-9.4,38,272,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2199,3605
$GC,337,-1.68,-97.8,20.5,-9.7,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2199,3605
$GC,528,-1.68,-97.8,39.0,-9.6,64,532,0.00,2.60,0.00,0.000,4,0.000,0.063,2526,798,3605
$GC,552,-1.68,-97.8,42.0,-11.2,65,559,0.00,2.47,0.00,0.000,6,0.000,0.035,2526,2197,3606
$GC,749,-1.68,-97.8,61.4,-10.0,81,753,0.00,2.53,0.00,0.000,4,0.000,0.059,2526,3594,3605
$GC,794,-1.68,-97.8,66.0,-10.0,84,798,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2198,3605
$GC,996,-1.68,-97.8,85.6,-9.5,100,1000,0.00,2.60,0.00,0.000,4,0.000,0.064,2526,794,3605
$GC,1029,-1.68,-97.8,88.8,-10.0,102,1033,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2204,3605
$GC,1231,-1.68,-97.8,107.8,-9.2,118,1235,0.00,2.60,0.00,0.000,4,0.000,0.064,2526,801,3606
$GC,1263,-1.68,-97.8,111.0,-10.0,120,1267,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2204,3605
$STATE,1355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1355,begin apogee
$GC,1361,-0.38,0.0,120.2,9.7,127,1443,1.48,0.00,77.28,0.683,6,0.106,0.000,2813,2063,3202
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1444,begin climb
$GC,1446,1.68,97.8,123.1,0.0,134,1532,2.10,2.60,76.15,0.663,4,0.063,0.055,3267,3476,2803
$GC,1564,1.74,139.2,118.9,6.4,143,1600,0.00,2.45,31.70,0.667,6,0.000,0.035,3267,2093,2634
$GC,1791,1.74,139.2,98.1,10.1,161,1795,0.00,2.65,0.00,0.000,4,0.000,0.066,3267,680,2633
$GC,1841,1.74,139.2,92.6,11.0,164,1849,0.00,2.50,0.00,0.000,6,0.000,0.035,3267,2082,2633
$GC,2038,1.74,139.2,73.6,9.6,180,2042,0.00,2.53,0.00,0.000,4,0.000,0.058,3267,3476,2633
$GC,2076,1.74,139.2,69.7,9.9,182,2083,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2079,2633
$GC,2272,1.74,139.2,50.1,10.0,198,2277,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3483,2633
$GC,2330,1.74,139.2,44.3,10.2,202,2338,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2081,2633
$GC,2527,1.74,139.2,25.4,9.4,218,2531,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3482,2633
$GC,2565,1.74,139.2,21.5,9.7,220,2572,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2083,2633
$STATE,2748,end climb,SURFACE_DEPTH_REACHED
$STATE,2748,begin surface coast
$FINISH,0.9,1.017630
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2811,175.75,0.581,0,0,1163,500.17
$SM_GC,1.02,0.00,0.00,175.75,0.000,0.000,0.581,410,2214,1163,-11.45,0.40,500.17
$IRIDIUM_FIX,4719.74,-12251.79,300907,030314
$TT8_MAMPS,0.028379
$HUMID,2176
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.7,33.493
$10V_AH,10.2,21.376
$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,29.850,55.750,185.125,175.750,0.000,61.288,33.595,133.710,0.250,0.000,0.000,11.666,481.430,1612.060,495.349,457.335,342.148,33.365,794.863,0.000,452.072,0.000,2.490
$DEVICE_MAMPS,197.886,72.865,682.630,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6418,253
$CFSIZE,260231168,251580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,011647,4739.458,-12253.079,13,2.7,32,18.3