version: 66.02
glider: 117
mission: 4
dive: 219
start: 10 1 107 2 38 4
data:
$ID,117
$MISSION,4
$DIVE,219
$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,-21763.516
$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,33
$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,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
$GPS1,023038,4739.558,-12252.325,8,1.4,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.2
$GPS2,023657,4739.607,-12252.253,12,1.4,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,-0.132
$KALMAN_X,29617.9,210.0,-97.4,-29180.6,7.1
$KALMAN_Y,14877.3,119.0,-47.4,-15291.0,63.2
$MHEAD_RNG_PITCHd_Wd,192.5,319,-27.7,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-2.20,-53.0,0.0,0.0,0,98,0.00,0.00,-73.60,0.000,2,0.000,0.000,408,2186,2666
$GC,102,-2.25,-97.8,2.0,-3.6,12,163,12.55,2.55,-41.95,0.000,4,0.197,0.068,2401,3590,3601
$GC,229,-2.25,-97.8,11.9,-13.9,32,235,0.00,2.40,0.00,0.000,6,0.000,0.035,2401,2207,3603
$GC,301,-2.25,-97.8,21.8,-12.3,42,305,0.00,2.62,0.00,0.000,4,0.000,0.066,2401,800,3603
$GC,351,-2.25,-97.8,29.1,-14.8,45,359,0.00,2.47,0.00,0.000,6,0.000,0.036,2401,2193,3603
$GC,548,-2.25,-97.8,56.2,-13.4,61,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2193,3603
$GC,739,-2.25,-97.8,82.1,-14.2,76,743,0.00,2.53,0.00,0.000,4,0.000,0.058,2401,3597,3603
$GC,803,-2.25,-97.8,91.4,-13.6,80,810,0.00,2.45,0.00,0.000,6,0.000,0.035,2401,2198,3603
$GC,999,-2.25,-97.8,118.6,-14.0,96,1004,0.00,2.53,0.00,0.000,4,0.000,0.057,2401,3597,3603
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1017,-0.38,0.0,120.4,14.2,96,1100,2.15,0.00,78.35,0.686,6,0.125,0.000,2813,2084,3202
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,2.25,97.8,123.8,0.0,103,1188,2.67,0.00,77.25,0.669,6,0.060,0.000,3391,2083,2802
$GC,1377,2.25,97.8,101.9,10.6,125,1381,0.00,2.53,0.00,0.000,4,0.000,0.054,3391,3478,2801
$GC,1635,2.25,97.8,73.0,10.7,144,1639,0.00,2.45,0.00,0.000,6,0.000,0.037,3391,2074,2800
$GC,1830,2.25,97.8,53.2,10.2,159,1834,0.00,2.55,0.00,0.000,4,0.000,0.054,3391,3483,2800
$GC,1921,2.25,97.8,43.3,10.7,165,1928,0.00,2.47,0.00,0.000,6,0.000,0.036,3391,2080,2800
$GC,2117,2.25,97.8,24.4,9.7,181,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2080,2800
$GC,2314,2.29,130.0,6.8,5.3,207,2344,0.00,2.67,24.27,0.646,4,0.000,0.067,3391,680,2671
$STATE,2348,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,2.9,1.022611
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2382,173.02,0.578,0,0,1162,500.17
$SM_GC,1.07,0.00,0.00,173.02,0.000,0.000,0.578,412,2201,1162,-11.44,0.03,500.17
$IRIDIUM_FIX,4719.74,-12244.69,011007,050537
$TT8_MAMPS,0.028379
$HUMID,2158
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.7,35.577
$10V_AH,10.2,21.996
$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,31.750,35.625,179.875,173.025,0.000,64.218,33.169,140.181,0.250,0.000,0.000,12.147,401.255,1347.383,482.379,395.438,339.406,33.346,734.897,0.000,392.923,0.000,2.488
$DEVICE_MAMPS,197.119,68.263,686.465,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6426,214
$CFSIZE,260231168,250912768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,032126,4739.450,-12252.316,7,1.2,12,18.3