version: 66.02
glider: 117
mission: 4
dive: 486
start: 10 11 107 17 25 48
data:
$ID,117
$MISSION,4
$DIVE,486
$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,30
$T_MISSION,70
$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,150
$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,-28709.822
$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,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$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
$GPS1,171257,4741.378,-12251.180,11,1.2,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-57.3
$GPS2,172438,4741.376,-12251.195,12,1.7,12,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,-0.263
$KALMAN_X,36205.8,169.2,6.6,-34512.7,-1.7
$KALMAN_Y,30498.7,-102.9,-65.5,-27391.1,-22.5
$MHEAD_RNG_PITCHd_Wd,169.7,2761,-19.1,-10.556
$D_GRID,115
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-1.65,-146.6,0.0,0.0,0,161,0.00,0.00,-127.60,0.000,2,0.000,0.000,411,2163,3443
$GC,166,-1.65,-146.6,2.9,-6.6,21,192,13.57,2.65,-6.97,0.000,4,0.203,0.080,2535,800,3804
$GC,396,-1.65,-146.6,35.0,-11.6,46,402,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2199,3805
$GC,593,-1.65,-146.6,57.3,-11.0,62,597,0.00,2.62,0.00,0.000,4,0.000,0.066,2535,801,3805
$GC,628,-1.65,-146.6,61.0,-11.4,64,632,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2203,3805
$GC,824,-1.65,-146.6,82.0,-10.7,79,828,0.00,2.53,0.00,0.000,4,0.000,0.059,2535,3597,3805
$GC,871,-1.65,-146.6,87.3,-11.2,82,875,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2200,3805
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,959,-0.38,0.0,96.2,10.9,88,1078,1.40,0.00,115.05,0.667,6,0.102,0.000,2811,2199,3202
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1086,1.65,146.6,99.8,0.0,98,1212,2.08,2.60,113.25,0.646,4,0.061,0.057,3262,3570,2603
$GC,1239,1.67,162.0,92.3,9.8,110,1256,0.00,2.47,11.65,0.669,6,0.000,0.036,3262,2166,2541
$GC,1455,1.67,165.7,68.6,10.4,127,1467,0.00,2.62,2.47,0.751,4,0.000,0.056,3262,3567,2526
$GC,1547,1.68,172.8,59.2,10.2,134,1560,0.00,2.45,5.40,0.709,6,0.000,0.037,3262,2169,2497
$GC,1750,1.69,182.7,38.7,10.1,150,1763,0.00,2.67,7.30,0.689,4,0.000,0.067,3262,767,2457
$GC,1783,1.69,182.7,35.0,11.3,152,1789,0.00,2.50,0.00,0.000,6,0.000,0.035,3262,2174,2457
$GC,1982,1.70,189.1,13.8,10.2,172,1994,0.00,2.60,4.65,0.709,4,0.000,0.061,3262,3562,2431
$GC,2042,1.70,189.1,7.4,10.6,181,2048,0.00,2.45,0.00,0.000,6,0.000,0.036,3262,2162,2431
$STATE,2065,end climb,SURFACE_DEPTH_REACHED
$STATE,2065,begin surface coast
$FINISH,-0.1,1.022826
$STATE,2126,end surface coast,CONTROL_FINISHED_OK
$STATE,2126,begin surface
$SM_CCo,2156,141.80,0.576,0,0,1163,500.17
$SM_GC,-0.01,0.00,0.00,141.80,0.000,0.000,0.576,408,2157,1163,-11.46,-1.22,500.17
$IRIDIUM_FIX,4726.11,-12246.42,111007,202008
$TT8_MAMPS,0.073632
$HUMID,2148
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.6,62.217
$10V_AH,10.0,41.361
$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,30.100,35.550,259.775,141.800,0.000,61.216,38.094,360.982,0.500,0.000,3173.000,13.004,356.768,1073.475,516.819,387.571,693.150,33.333,776.345,0.000,362.361,0.000,2.488
$DEVICE_MAMPS,203.255,79.768,750.893,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.515,0.000,0.000,0.000,0.000,0.000,0.000,3173.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6476,194
$CFSIZE,260231168,242659328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,180457,4741.111,-12251.139,12,1.5,12,18.3