version: 66.02
glider: 117
mission: 4
dive: 230
start: 10 1 107 14 37 53
data:
$ID,117
$MISSION,4
$DIVE,230
$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,-22036.768
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,142108,4739.472,-12252.815,37,1.6,37,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.1
$GPS2,143647,4739.469,-12252.810,13,2.1,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.196,0.070
$KALMAN_X,31847.6,164.1,-17.5,-32135.3,-139.7
$KALMAN_Y,16302.5,142.9,-81.8,-16956.1,-192.3
$MHEAD_RNG_PITCHd_Wd,52.1,509,-20.3,-8.889
$D_GRID,123
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,130,0.00,0.00,-102.85,0.000,2,0.000,0.000,407,2214,2769
$GC,134,-1.68,-97.8,2.0,-4.0,17,189,13.32,2.55,-31.30,0.000,4,0.196,0.071,2525,3587,3602
$GC,412,-1.68,-97.8,30.5,-11.3,53,420,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2194,3604
$GC,609,-1.68,-97.8,50.5,-10.5,69,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3604
$GC,800,-1.68,-97.8,71.3,-10.2,84,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3604
$GC,991,-1.68,-97.8,89.6,-10.0,99,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3603
$GC,1177,-1.68,-97.8,108.6,-10.5,114,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3604
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1307,-0.38,0.0,121.3,10.0,124,1388,1.48,0.00,76.68,0.695,6,0.105,0.000,2812,2072,3202
$STATE,1389,end apogee,CONTROL_FINISHED_OK
$STATE,1389,begin climb
$GC,1392,1.68,97.8,124.3,0.0,131,1477,2.10,2.65,76.10,0.670,4,0.061,0.066,3271,684,2803
$GC,1530,1.73,132.5,119.8,6.8,142,1567,0.00,2.45,26.83,0.676,6,0.000,0.035,3271,2074,2661
$GC,1756,1.73,132.5,100.9,8.9,160,1760,0.00,2.55,0.00,0.000,4,0.000,0.059,3271,3476,2661
$GC,1992,1.73,132.5,78.4,9.2,177,1999,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,2085,2661
$GC,2189,1.74,140.5,61.8,8.4,193,2201,0.00,0.00,5.75,0.723,6,0.000,0.000,3271,2085,2629
$GC,2390,1.74,140.5,43.4,9.4,209,2394,0.00,2.53,0.00,0.000,4,0.000,0.055,3271,3473,2629
$GC,2530,1.74,140.5,29.4,9.7,219,2534,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2078,2629
$GC,2729,1.77,169.6,13.2,7.1,241,2760,0.00,2.72,22.35,0.648,4,0.000,0.067,3271,680,2510
$GC,2801,1.78,176.9,7.3,8.4,252,2814,0.00,2.47,5.43,0.691,6,0.000,0.035,3271,2083,2480
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.4,1.022921
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2933,147.88,0.579,0,0,1163,500.17
$SM_GC,1.13,0.00,0.00,147.88,0.000,0.000,0.579,409,2213,1163,-11.46,0.40,500.17
$IRIDIUM_FIX,4722.92,-12253.53,011007,181808
$TT8_MAMPS,0.071331
$HUMID,2165
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.6,36.584
$10V_AH,10.1,22.331
$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,29.875,25.600,213.125,147.875,0.000,102.366,135.407,431.089,0.250,20.760,3052.240,33.561,478.903,1736.228,489.916,515.985,828.834,33.344,790.546,0.000,480.670,0.000,2.490
$DEVICE_MAMPS,196.352,70.564,722.514,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.302,0.000,0.000,0.000,0.000,0.000,0.000,3073.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6443,268
$CFSIZE,260231168,250630144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,153020,4739.512,-12252.556,14,1.5,31,18.3