version: 66.02
glider: 117
mission: 4
dive: 242
start: 10 2 107 2 38 34
data:
$ID,117
$MISSION,4
$DIVE,242
$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,-22319.207
$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,36
$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,3
$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
$GPS1,022641,4739.492,-12252.455,11,2.5,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.6
$GPS2,023727,4739.559,-12252.364,15,1.6,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.204,-0.043
$KALMAN_X,32665.3,-33.7,34.0,-32251.6,-49.8
$KALMAN_Y,17329.8,-12.8,3.2,-17749.3,20.4
$MHEAD_RNG_PITCHd_Wd,239.7,1059,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,36,-1.68,-97.8,0.0,0.0,0,111,0.00,0.00,-72.43,0.000,2,0.000,0.000,411,2208,2666
$GC,114,-1.68,-97.8,2.0,-3.5,12,175,13.32,2.65,-38.28,0.000,4,0.198,0.074,2525,802,3602
$GC,195,-1.68,-97.8,5.7,-9.0,25,201,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2196,3604
$GC,266,-1.68,-97.8,13.3,-11.3,36,272,0.00,2.62,0.00,0.000,4,0.000,0.064,2526,795,3604
$GC,331,-1.68,-97.8,20.4,-10.8,46,335,0.00,2.47,0.00,0.000,6,0.000,0.037,2525,2203,3604
$GC,527,-1.68,-97.8,40.8,-10.3,61,531,0.00,2.53,0.00,0.000,4,0.000,0.060,2525,3600,3605
$GC,625,-1.68,-97.8,51.4,-10.9,68,630,0.00,2.42,0.00,0.000,6,0.000,0.036,2526,2197,3604
$GC,821,-1.68,-97.8,71.2,-10.0,83,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3604
$GC,1010,-1.68,-97.8,90.1,-9.7,98,1014,0.00,2.55,0.00,0.000,4,0.000,0.058,2525,3604,3604
$GC,1035,-1.68,-97.8,92.8,-10.9,99,1042,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2203,3604
$GC,1231,-1.68,-97.8,112.0,-9.7,115,1235,0.00,2.62,0.00,0.000,4,0.000,0.068,2525,798,3604
$GC,1305,-1.68,-97.8,119.5,-11.3,120,1309,0.00,2.17,0.00,0.000,3,0.000,0.037,2525,2050,3604
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1315,-0.38,0.0,120.2,10.8,120,1397,1.45,0.00,77.93,0.695,6,0.107,0.000,2810,2050,3202
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1402,1.68,97.8,123.0,0.0,127,1483,2.12,0.00,76.55,0.682,6,0.063,0.000,3271,2052,2803
$GC,1669,1.72,127.8,109.1,7.1,149,1698,0.00,2.67,22.90,0.687,4,0.000,0.066,3271,665,2681
$GC,1832,1.72,127.8,94.4,9.9,161,1838,0.00,2.50,0.00,0.000,6,0.000,0.036,3271,2087,2679
$GC,2027,1.72,127.8,76.5,9.3,177,2032,0.00,2.53,0.00,0.000,4,0.000,0.058,3271,3480,2679
$GC,2115,1.72,127.8,68.6,9.1,183,2119,0.00,2.45,0.00,0.000,6,0.000,0.037,3272,2074,2679
$GC,2310,1.72,127.8,51.0,9.0,198,2314,0.00,2.55,0.00,0.000,4,0.000,0.054,3271,3482,2678
$GC,2382,1.72,127.8,44.3,9.4,203,2386,0.00,2.42,0.00,0.000,6,0.000,0.036,3273,2080,2678
$GC,2586,1.74,144.1,27.6,7.9,219,2603,0.00,2.55,12.20,0.687,4,0.000,0.054,3271,3473,2614
$GC,2750,1.75,151.7,14.1,8.4,236,2763,0.00,2.42,5.57,0.717,6,0.000,0.036,3271,2075,2583
$GC,2829,1.80,192.8,8.8,6.4,248,2866,0.00,2.72,31.40,0.634,4,0.000,0.067,3271,683,2415
$STATE,2876,end climb,SURFACE_DEPTH_REACHED
$STATE,2876,begin surface coast
$FINISH,0.3,1.022717
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2984,142.45,0.584,0,0,1163,500.17
$SM_GC,1.08,0.00,0.00,142.45,0.000,0.000,0.584,412,2201,1163,-11.44,0.03,500.17
$IRIDIUM_FIX,4722.92,-12251.79,021007,060610
$TT8_MAMPS,0.094341
$HUMID,2167
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.6,37.681
$10V_AH,10.0,23.241
$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,29.900,50.475,226.550,142.450,0.000,99.629,149.822,144.903,0.500,0.000,3934.000,15.538,476.862,1783.634,489.477,512.478,539.107,33.355,798.627,0.000,485.083,0.000,2.491
$DEVICE_MAMPS,197.886,73.632,717.145,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.413,0.000,0.000,0.000,0.000,0.000,2583.720,3934.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6434,267
$CFSIZE,260231168,250265600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021007,033132,4739.507,-12252.768,11,1.2,16,18.3