version: 66.02
glider: 117
mission: 4
dive: 228
start: 10 1 107 12 22 9
data:
$ID,117
$MISSION,4
$DIVE,228
$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,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,-21967.451
$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,31
$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
$GPS1,120720,4739.333,-12253.250,11,2.0,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.9
$GPS2,122102,4739.332,-12253.273,14,1.7,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,0.156
$KALMAN_X,31671.8,282.8,249.7,-32922.8,-183.2
$KALMAN_Y,16359.7,259.3,139.1,-17600.1,-172.4
$MHEAD_RNG_PITCHd_Wd,14.7,265,-23.0,-8.889
$D_GRID,119
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.86,-76.9,0.0,0.0,0,128,0.00,0.00,-103.38,0.000,2,0.000,0.000,405,2186,2785
$GC,132,-1.89,-97.8,2.1,-3.9,17,188,13.10,2.58,-35.03,0.000,4,0.199,0.067,2480,3606,3601
$GC,438,-1.89,-97.8,36.2,-13.4,55,445,0.00,2.47,0.00,0.000,6,0.000,0.035,2480,2196,3603
$GC,634,-1.89,-97.8,60.0,-11.9,71,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2196,3603
$GC,827,-1.89,-97.8,84.0,-12.3,86,831,0.00,2.55,0.00,0.000,4,0.000,0.056,2480,3604,3603
$GC,890,-1.89,-97.8,92.6,-12.5,90,898,0.00,2.45,0.00,0.000,6,0.000,0.035,2480,2205,3603
$GC,1087,-1.89,-97.8,116.5,-12.0,106,1091,0.00,2.50,0.00,0.000,4,0.000,0.057,2480,3597,3603
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1119,-0.38,0.0,119.6,12.3,108,1198,1.70,0.00,75.38,0.689,6,0.115,0.000,2809,2082,3202
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1202,1.89,97.8,122.6,0.0,115,1287,2.33,0.00,76.50,0.668,6,0.061,0.000,3318,2082,2803
$GC,1476,1.90,111.4,105.9,7.8,137,1492,0.00,2.60,10.80,0.701,4,0.000,0.054,3318,3473,2747
$GC,1678,1.90,111.4,88.0,9.2,152,1685,0.00,2.45,0.00,0.000,6,0.000,0.035,3318,2086,2748
$GC,1875,1.91,119.9,71.3,8.2,168,1888,0.00,2.55,6.25,0.725,4,0.000,0.054,3318,3481,2713
$GC,2006,1.91,119.9,58.9,9.3,178,2010,0.00,2.42,0.00,0.000,6,0.000,0.036,3318,2076,2713
$GC,2208,1.91,119.9,39.0,9.8,194,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2076,2713
$GC,2399,1.93,132.4,22.7,7.9,209,2412,0.00,0.00,9.23,0.689,6,0.000,0.000,3318,2076,2662
$GC,2609,1.96,160.3,6.1,6.7,238,2628,0.00,0.00,16.98,0.653,2,0.000,0.000,3318,2076,2571
$STATE,2629,end climb,SURFACE_DEPTH_REACHED
$STATE,2629,begin surface coast
$FINISH,0.2,1.023033
$STATE,2726,end surface coast,CONTROL_FINISHED_OK
$STATE,2726,begin surface
$SM_CCo,2749,220.57,0.574,0,0,746,602.46
$SM_GC,0.86,0.00,0.00,220.57,0.000,0.000,0.574,412,2215,746,-11.44,0.42,602.46
$IRIDIUM_FIX,4722.92,-12253.53,011007,161608
$TT8_MAMPS,0.028379
$HUMID,2154
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.8,999.0
$24V_AH,23.6,36.376
$10V_AH,10.2,22.229
$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,30.425,25.425,195.125,220.575,0.000,178.504,300.676,0.000,0.250,0.000,0.000,31.036,459.819,1740.552,550.174,479.538,592.801,33.344,830.844,0.000,455.483,0.000,2.488
$DEVICE_MAMPS,199.420,67.496,724.815,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6451,256
$CFSIZE,260231168,250626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,131241,4739.418,-12253.101,7,3.4,26,18.3