version: 66.02
glider: 117
mission: 4
dive: 217
start: 10 1 107 0 42 48
data:
$ID,117
$MISSION,4
$DIVE,217
$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,-21719.119
$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,34
$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,0
$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
$GPS1,003129,4739.425,-12253.221,11,2.4,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.3
$GPS2,004141,4739.411,-12253.216,12,2.3,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.205,0.038
$KALMAN_X,29173.3,230.7,169.8,-30221.5,-129.7
$KALMAN_Y,14427.8,123.7,93.4,-15343.7,-58.7
$MHEAD_RNG_PITCHd_Wd,61.3,1021,-20.3,-8.889
$D_GRID,118
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,116,0.00,0.00,-91.50,0.000,2,0.000,0.000,408,2213,2935
$GC,120,-1.68,-97.8,2.0,-3.8,15,164,13.32,2.58,-25.33,0.000,4,0.198,0.071,2525,3594,3603
$GC,414,-1.68,-97.8,31.1,-11.0,52,421,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2200,3604
$GC,610,-1.68,-97.8,52.1,-10.8,68,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3605
$GC,803,-1.68,-97.8,72.3,-10.6,83,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3605
$GC,990,-1.68,-97.8,91.2,-9.9,98,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3605
$GC,1178,-1.68,-97.8,109.9,-9.9,113,1182,0.00,2.60,0.00,0.000,4,0.000,0.068,2525,801,3605
$GC,1216,-1.68,-97.8,113.8,-10.0,115,1224,0.00,2.47,0.00,0.000,6,0.000,0.037,2525,2198,3605
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1265,-0.38,0.0,118.1,9.8,119,1347,1.48,0.00,78.43,0.693,6,0.107,0.000,2811,2068,3202
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1351,1.68,97.8,120.7,0.0,126,1433,2.15,0.00,77.53,0.673,6,0.063,0.000,3267,2068,2803
$GC,1620,1.71,121.6,104.0,7.4,148,1643,0.00,0.00,18.05,0.689,6,0.000,0.000,3267,2068,2705
$GC,1832,1.71,121.6,85.5,9.0,165,1837,0.00,2.55,0.00,0.000,4,0.000,0.056,3267,3476,2704
$GC,1878,1.71,121.6,81.1,9.4,168,1883,0.00,2.42,0.00,0.000,6,0.000,0.037,3267,2086,2703
$GC,2074,1.72,124.3,64.1,8.7,183,2078,0.00,2.53,0.00,0.000,4,0.000,0.055,3267,3476,2703
$GC,2165,1.72,124.3,55.7,9.0,189,2173,0.00,2.45,1.60,0.814,6,0.000,0.036,3267,2082,2695
$GC,2361,1.72,125.8,38.0,8.8,205,2365,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3477,2695
$GC,2526,1.73,133.0,23.2,8.5,217,2539,0.00,2.42,6.90,0.709,6,0.000,0.036,3267,2079,2659
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.9,1.010391
$STATE,2849,end surface coast,CONTROL_FINISHED_OK
$STATE,2849,begin surface
$SM_CCo,2872,168.98,0.585,0,0,1162,500.17
$SM_GC,0.98,0.00,0.00,168.98,0.000,0.000,0.585,409,2219,1162,-11.46,0.48,500.17
$IRIDIUM_FIX,4722.92,-12253.53,011007,040432
$TT8_MAMPS,0.028379
$HUMID,2154
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.6,999.0
$24V_AH,23.7,35.427
$10V_AH,10.2,21.953
$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,30.500,25.375,182.500,168.975,0.000,98.073,75.759,206.902,0.250,0.000,0.000,32.863,481.000,1743.844,477.109,477.411,505.271,33.346,748.119,0.000,454.183,0.000,2.490
$DEVICE_MAMPS,197.886,70.564,813.787,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6437,263
$CFSIZE,260231168,250953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,013435,4739.481,-12252.793,11,3.6,30,18.3