version: 66.02
glider: 117
mission: 4
dive: 198
start: 9 30 107 6 2 39
data:
$ID,117
$MISSION,4
$DIVE,198
$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,-21227.262
$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,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
$GPS1,055509,4739.556,-12253.019,12,1.5,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.3
$GPS2,060132,4739.648,-12252.894,11,1.7,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,-0.143
$KALMAN_X,25015.4,302.1,17.4,-25584.6,299.4
$KALMAN_Y,10750.7,387.5,-7.2,-11394.8,290.6
$MHEAD_RNG_PITCHd_Wd,208.3,511,-20.3,-8.889
$D_GRID,120
$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,-97.8,0.0,0.0,0,109,0.00,0.00,-85.22,0.000,2,0.000,0.000,410,2200,2893
$GC,111,-1.68,-97.8,2.3,-4.6,14,154,13.32,0.00,-26.88,0.000,6,0.197,0.000,2526,2200,3603
$GC,220,-1.68,-97.8,7.7,-6.2,31,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3606
$GC,292,-1.68,-97.8,14.9,-10.9,42,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3606
$GC,370,-1.68,-97.8,22.6,-9.5,52,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3606
$GC,561,-1.68,-97.8,40.3,-8.8,67,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3606
$GC,750,-1.68,-97.8,58.0,-9.1,82,754,0.00,2.62,0.00,0.000,4,0.000,0.066,2526,798,3606
$GC,782,-1.68,-97.8,61.2,-9.7,84,786,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2197,3606
$GC,984,-1.68,-97.8,79.8,-9.6,100,988,0.00,2.53,0.00,0.000,4,0.000,0.060,2526,3600,3606
$GC,1023,-1.68,-97.8,83.7,-9.7,103,1027,0.00,2.42,0.00,0.000,6,0.000,0.036,2526,2192,3606
$GC,1225,-1.68,-97.8,103.1,-9.9,119,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2192,3606
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1401,begin apogee
$GC,1407,-0.38,0.0,120.5,9.7,133,1489,1.48,0.00,78.47,0.700,6,0.107,0.000,2812,2068,3201
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1493,1.68,97.8,123.2,0.0,140,1574,2.12,0.00,77.12,0.675,6,0.065,0.000,3268,2068,2803
$GC,1761,1.70,112.0,106.3,8.0,162,1773,0.00,0.00,10.57,0.714,6,0.000,0.000,3268,2068,2745
$GC,1961,1.72,122.9,89.6,8.2,178,1974,0.00,0.00,8.38,0.721,6,0.000,0.000,3268,2068,2699
$GC,2162,1.72,122.9,71.4,9.2,194,2167,0.00,2.55,0.00,0.000,4,0.000,0.055,3268,3477,2699
$GC,2280,1.72,122.9,60.4,9.1,202,2287,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2086,2699
$GC,2476,1.72,122.9,42.1,9.2,218,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2086,2699
$GC,2669,1.73,138.2,26.0,8.0,233,2685,0.00,2.55,11.48,0.686,4,0.000,0.055,3268,3475,2637
$GC,2774,1.73,138.2,16.2,9.7,243,2780,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2076,2637
$GC,2846,1.73,138.2,9.9,9.1,254,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2076,2637
$STATE,2895,end climb,SURFACE_DEPTH_REACHED
$STATE,2895,begin surface coast
$FINISH,0.4,1.021574
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2972,164.82,0.589,0,0,1162,500.17
$SM_GC,1.05,0.00,0.00,164.82,0.000,0.000,0.589,407,2214,1162,-11.47,0.40,500.17
$IRIDIUM_FIX,4722.92,-12251.79,300907,080810
$TT8_MAMPS,0.028379
$HUMID,2166
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.1,33.935
$10V_AH,10.2,21.510
$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,29.850,20.375,186.025,164.825,0.000,63.921,39.803,135.778,0.250,0.000,0.000,12.003,494.280,1784.793,471.870,446.110,354.009,33.343,744.538,0.000,442.089,0.000,2.490
$DEVICE_MAMPS,197.119,65.962,720.980,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6447,270
$CFSIZE,260231168,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,065545,4739.572,-12252.992,15,1.8,15,18.3