version: 66.02
glider: 117
mission: 4
dive: 235
start: 10 1 107 19 37 57
data:
$ID,117
$MISSION,4
$DIVE,235
$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,-22153.518
$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,27
$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,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
$GPS1,192851,4739.449,-12252.908,9,2.0,9,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.9
$GPS2,193650,4739.499,-12252.799,10,1.9,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.198,-0.064
$KALMAN_X,32550.7,-1.0,-86.2,-32593.8,204.1
$KALMAN_Y,16865.1,-38.5,-0.2,-17363.5,134.1
$MHEAD_RNG_PITCHd_Wd,233.7,507,-20.3,-8.889
$D_GRID,121
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,101,0.00,0.00,-72.75,0.000,2,0.000,0.000,407,2190,2701
$GC,104,-1.68,-97.8,2.2,-3.8,12,160,13.27,2.60,-35.12,0.000,4,0.196,0.074,2525,799,3601
$GC,175,-1.68,-97.8,5.1,-7.7,23,181,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2203,3602
$GC,247,-1.68,-97.8,11.4,-10.0,34,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3603
$GC,318,-1.68,-97.8,19.6,-11.4,45,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3603
$GC,387,-1.68,-97.8,27.8,-11.9,51,392,0.00,2.53,0.00,0.000,4,0.000,0.058,2525,3596,3603
$GC,519,-1.68,-97.8,43.5,-12.0,60,525,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2194,3602
$GC,714,-1.68,-97.8,64.6,-10.8,76,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3603
$GC,905,-1.68,-97.8,85.1,-10.8,91,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3603
$GC,1095,-1.68,-97.8,104.3,-9.9,106,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3604
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1263,-0.38,0.0,120.3,9.8,119,1344,1.45,0.00,77.50,0.691,6,0.106,0.000,2810,2070,3202
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1347,1.68,97.8,123.0,0.0,126,1432,2.12,2.60,76.25,0.668,4,0.063,0.054,3270,3474,2802
$GC,1516,1.70,110.9,114.7,8.1,139,1536,0.00,2.45,9.98,0.708,6,0.000,0.035,3270,2092,2748
$GC,1725,1.72,125.4,97.5,8.0,156,1737,0.00,0.00,10.93,0.703,6,0.000,0.000,3270,2092,2690
$GC,1926,1.73,138.0,80.2,8.1,172,1942,0.00,2.58,9.48,0.706,4,0.000,0.054,3270,3467,2639
$GC,2037,1.74,142.4,70.7,8.6,180,2047,0.00,2.42,3.30,0.759,6,0.000,0.036,3270,2078,2621
$GC,2245,1.74,146.9,52.9,8.6,197,2257,0.00,2.60,3.17,0.756,4,0.000,0.054,3270,3472,2603
$GC,2310,1.74,146.9,47.0,9.4,202,2314,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2079,2603
$GC,2506,1.75,152.8,29.5,8.5,217,2518,0.00,2.58,4.47,0.729,4,0.000,0.054,3270,3468,2579
$GC,2630,1.75,152.8,18.0,9.6,228,2636,0.00,2.42,0.00,0.000,6,0.000,0.035,3270,2075,2579
$GC,2702,1.76,161.2,12.1,8.4,239,2714,0.00,0.00,6.62,0.710,6,0.000,0.000,3270,2075,2543
$GC,2780,1.76,161.2,5.5,9.0,251,2786,0.00,2.55,0.00,0.000,4,0.000,0.054,3270,3478,2542
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,0.3,1.011061
$STATE,2853,end surface coast,CONTROL_FINISHED_OK
$STATE,2853,begin surface
$SM_CCo,2881,153.30,0.585,0,0,1162,500.17
$SM_GC,1.14,0.00,0.00,153.30,0.000,0.000,0.585,407,2191,1162,-11.47,-0.25,500.17
$IRIDIUM_FIX,4722.92,-12253.53,011007,222247
$TT8_MAMPS,0.071331
$HUMID,2183
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.5,37.054
$10V_AH,10.1,22.708
$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,29.775,35.050,201.700,153.300,0.000,63.022,37.014,189.981,0.500,16.600,3592.400,15.675,486.650,1638.292,482.819,496.503,436.857,33.345,780.393,0.000,466.935,0.000,2.493
$DEVICE_MAMPS,195.585,73.632,759.330,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.875,0.000,0.000,0.000,0.000,0.000,0.000,3609.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6421,262
$CFSIZE,260231168,250470400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,202937,4739.427,-12253.161,30,1.5,30,18.3