version: 66.02
glider: 117
mission: 4
dive: 297
start: 10 4 107 12 42 9
data:
$ID,117
$MISSION,4
$DIVE,297
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-1
$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,450
$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,-23771.129
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,122804,4745.561,-12249.669,9,2.2,28,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.3
$GPS2,124109,4745.577,-12249.642,15,1.4,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,-0.161
$KALMAN_X,39256.9,-27.5,97.0,-35519.0,67.4
$KALMAN_Y,23309.1,33.4,-23.4,-12600.8,2.1
$MHEAD_RNG_PITCHd_Wd,195.5,2002,-16.6,-7.037
$D_GRID,172
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.39,-97.8,0.0,0.0,0,108,0.00,0.00,-76.82,0.000,2,0.000,0.000,407,2189,2926
$GC,111,-1.39,-97.8,2.2,-3.7,13,154,13.75,2.58,-21.48,0.000,4,0.197,0.070,2592,3597,3603
$GC,214,-1.39,-97.8,11.1,-10.1,29,220,0.00,2.40,0.00,0.000,6,0.000,0.035,2592,2206,3605
$GC,286,-1.39,-97.8,18.4,-9.8,40,293,0.00,2.62,0.00,0.000,4,0.000,0.066,2592,800,3606
$GC,299,-1.39,-97.8,19.5,-9.4,42,305,0.00,2.45,0.00,0.000,6,0.000,0.036,2592,2196,3605
$GC,375,-1.39,-97.8,25.6,-8.0,49,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2196,3605
$GC,566,-1.39,-97.8,40.4,-8.1,64,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2196,3605
$GC,757,-1.39,-97.8,55.1,-7.7,79,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,3605
$GC,946,-1.39,-97.8,70.0,-7.9,94,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,3605
$GC,1134,-1.39,-97.8,84.4,-7.7,109,1138,0.00,2.53,0.00,0.000,4,0.000,0.060,2592,3598,3605
$GC,1159,-1.39,-97.8,86.6,-8.1,110,1166,0.00,2.45,0.00,0.000,6,0.000,0.036,2592,2197,3605
$STATE,1265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1265,begin apogee
$GC,1272,-0.38,0.0,95.1,7.8,119,1353,1.12,0.00,77.40,0.670,6,0.098,0.000,2814,2071,3202
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1357,1.39,97.8,97.4,0.0,126,1438,1.83,0.00,76.18,0.650,6,0.062,0.000,3200,2071,2803
$GC,1626,1.42,120.6,85.4,5.9,148,1650,0.00,2.60,17.20,0.673,4,0.000,0.055,3200,3475,2711
$GC,1695,1.42,120.6,80.6,7.2,153,1702,0.00,2.45,0.00,0.000,6,0.000,0.037,3202,2092,2708
$GC,1892,1.42,120.6,66.5,7.4,169,1896,0.00,2.53,0.00,0.000,4,0.000,0.056,3200,3482,2708
$GC,1970,1.42,120.6,60.6,7.4,174,1976,0.00,2.47,0.00,0.000,6,0.000,0.037,3200,2079,2708
$GC,2167,1.42,120.6,46.4,7.2,190,2171,0.00,2.53,0.00,0.000,4,0.000,0.055,3200,3476,2708
$GC,2299,1.42,120.6,36.7,7.1,199,2305,0.00,2.42,0.00,0.000,6,0.000,0.037,3200,2079,2708
$GC,2495,1.44,131.3,23.5,6.5,215,2506,0.00,0.00,7.93,0.697,6,0.000,0.000,3200,2079,2666
$GC,2703,1.51,189.8,12.9,4.2,242,2758,0.12,2.62,44.72,0.628,4,0.050,0.055,3235,3476,2428
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,-0.1,1.022734
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2939,116.18,0.581,0,0,1367,450.13
$SM_GC,0.62,0.00,0.00,116.18,0.000,0.000,0.581,406,2184,1367,-11.48,-0.45,450.13
$IRIDIUM_FIX,4726.11,-12248.15,041007,161640
$TT8_MAMPS,0.072865
$HUMID,2174
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.6,43.079
$10V_AH,10.1,27.776
$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,29.625,35.075,223.425,116.175,0.000,98.365,68.631,349.383,0.500,4.150,3959.850,15.123,493.232,1736.940,456.036,480.013,693.545,33.345,741.678,0.000,452.316,0.000,4.393
$DEVICE_MAMPS,197.119,69.797,697.203,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.972,0.000,0.000,0.000,0.000,0.000,0.000,3964.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6459,274
$CFSIZE,260231168,248328192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,133408,4745.355,-12249.800,11,1.6,28,18.3