version: 66.02
glider: 117
mission: 4
dive: 238
start: 10 1 107 22 38 13
data:
$ID,117
$MISSION,4
$DIVE,238
$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,-22220.482
$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,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
$GPS1,222607,4739.510,-12252.384,7,1.1,24,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.2
$GPS2,223707,4739.559,-12252.397,17,1.3,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.054
$KALMAN_X,32433.6,-27.2,189.7,-32219.6,-35.3
$KALMAN_Y,17099.2,-45.4,185.9,-17670.4,51.7
$MHEAD_RNG_PITCHd_Wd,236.6,1018,-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,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,-72.85,0.000,2,0.000,0.000,406,2215,2697
$GC,105,-1.68,-97.8,2.2,-4.2,12,160,13.38,2.70,-32.67,0.000,4,0.199,0.074,2523,801,3603
$GC,225,-1.68,-97.8,11.8,-12.0,31,232,0.00,2.42,0.00,0.000,6,0.000,0.036,2523,2189,3604
$GC,298,-1.68,-97.8,19.7,-11.1,42,304,0.00,2.55,0.00,0.000,4,0.000,0.059,2523,3595,3605
$GC,369,-1.68,-97.8,28.3,-12.1,48,376,0.00,2.45,0.00,0.000,6,0.000,0.036,2523,2199,3605
$GC,565,-1.68,-97.8,49.6,-10.7,64,569,0.00,2.53,0.00,0.000,4,0.000,0.058,2523,3595,3605
$GC,591,-1.68,-97.8,52.6,-11.9,66,595,0.00,2.42,0.00,0.000,6,0.000,0.036,2523,2197,3605
$GC,786,-1.68,-97.8,73.0,-9.8,81,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,3605
$GC,979,-1.68,-97.8,93.2,-10.7,96,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,3605
$GC,1165,-1.68,-97.8,112.9,-10.1,111,1169,0.00,2.55,0.00,0.000,4,0.000,0.058,2523,3598,3605
$GC,1197,-1.68,-97.8,116.4,-11.0,113,1202,0.00,2.42,0.00,0.000,6,0.000,0.036,2523,2194,3605
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1245,-0.38,0.0,121.0,10.5,116,1327,1.50,0.00,77.78,0.697,6,0.106,0.000,2815,2071,3202
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1330,1.68,97.8,123.9,0.0,123,1412,2.12,0.00,76.90,0.670,6,0.061,0.000,3267,2071,2803
$GC,1600,1.72,123.1,109.6,7.3,145,1623,0.00,0.00,19.30,0.690,6,0.000,0.000,3267,2071,2700
$GC,1813,1.73,133.4,92.5,8.3,162,1826,0.00,2.65,7.65,0.723,4,0.000,0.055,3269,3482,2658
$GC,1976,1.73,133.4,77.3,9.3,174,1984,0.00,2.45,0.00,0.000,6,0.000,0.037,3267,2095,2657
$GC,2173,1.73,133.4,59.6,9.3,190,2177,0.00,2.65,0.00,0.000,4,0.000,0.067,3267,680,2657
$GC,2237,1.73,133.4,53.3,9.6,194,2245,0.00,2.50,0.00,0.000,6,0.000,0.036,3267,2079,2657
$GC,2434,1.73,133.4,35.4,9.4,210,2438,0.00,2.55,0.00,0.000,4,0.000,0.058,3267,3482,2657
$GC,2572,1.75,151.8,23.4,7.8,220,2591,0.00,2.45,13.95,0.682,6,0.000,0.037,3267,2073,2583
$GC,2790,1.78,172.4,6.3,7.6,249,2810,0.00,1.77,15.40,0.666,3,0.000,0.046,3267,3046,2500
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.5,1.022609
$STATE,2870,end surface coast,CONTROL_FINISHED_OK
$STATE,2870,begin surface
$SM_CCo,2897,148.70,0.584,0,0,1162,500.17
$SM_GC,1.05,0.00,0.00,148.70,0.000,0.000,0.584,409,2184,1162,-11.46,-0.45,500.17
$IRIDIUM_FIX,4722.92,-12253.53,021007,020233
$TT8_MAMPS,0.072098
$HUMID,2158
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.6,37.329
$10V_AH,10.1,22.935
$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,29.850,38.750,210.975,148.700,0.000,101.219,116.281,171.719,0.250,0.000,3846.000,33.389,486.787,1720.102,483.434,505.432,537.534,33.349,769.829,0.000,458.787,0.000,2.489
$DEVICE_MAMPS,198.653,74.399,723.281,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.141,0.000,0.000,0.000,0.000,0.000,0.000,3846.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6452,261
$CFSIZE,260231168,250380288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011007,232945,4739.421,-12252.807,11,1.5,11,18.3