version: 66.02
glider: 117
mission: 4
dive: 239
start: 10 1 107 23 41 18
data:
$ID,117
$MISSION,4
$DIVE,239
$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,-22239.254
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,232945,4739.421,-12252.807,11,1.5,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.5
$GPS2,234011,4739.452,-12252.759,16,1.8,18,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,-0.000
$KALMAN_X,32502.7,-29.2,196.5,-32749.9,-72.6
$KALMAN_Y,17085.0,-53.9,174.3,-17827.6,26.0
$MHEAD_RNG_PITCHd_Wd,251.6,554,-24.1,-8.889
$D_GRID,122
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.94,-69.7,0.0,0.0,0,108,0.00,0.00,-78.80,0.000,2,0.000,0.000,409,2183,2815
$GC,112,-1.98,-97.8,2.2,-4.0,13,161,13.02,2.60,-28.42,0.000,4,0.200,0.077,2464,805,3603
$GC,207,-1.98,-97.8,10.3,-13.3,28,213,0.00,2.45,0.00,0.000,6,0.000,0.037,2463,2200,3605
$GC,279,-1.98,-97.8,19.9,-13.3,39,285,0.00,2.55,0.00,0.000,4,0.000,0.060,2463,3606,3605
$GC,336,-1.98,-97.8,27.8,-13.9,44,344,0.00,2.45,0.00,0.000,6,0.000,0.036,2463,2211,3605
$GC,533,-1.98,-97.8,51.9,-12.1,60,537,0.00,2.53,0.00,0.000,4,0.000,0.058,2463,3598,3605
$GC,597,-1.98,-97.8,60.4,-13.2,64,604,0.00,2.45,0.00,0.000,6,0.000,0.036,2463,2205,3605
$GC,794,-1.98,-97.8,84.7,-13.0,80,798,0.00,2.62,0.00,0.000,4,0.000,0.067,2463,799,3605
$GC,866,-1.98,-97.8,94.2,-13.2,85,870,0.00,2.45,0.00,0.000,6,0.000,0.038,2463,2201,3605
$GC,1061,-1.98,-97.8,118.6,-12.0,100,1065,0.00,2.53,0.00,0.000,4,0.000,0.059,2463,3600,3605
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1079,-0.38,0.0,120.2,12.1,100,1162,1.77,0.00,78.10,0.692,6,0.116,0.000,2811,2076,3201
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1165,1.98,97.8,123.2,0.0,107,1251,2.40,2.67,76.38,0.672,4,0.061,0.064,3336,679,2802
$GC,1331,1.98,97.8,114.3,9.2,120,1335,0.00,2.47,0.00,0.000,6,0.000,0.035,3335,2080,2802
$GC,1526,1.99,109.5,97.7,7.9,135,1541,0.00,2.62,8.68,0.713,4,0.000,0.058,3336,3475,2755
$GC,1709,1.99,109.5,81.0,9.4,149,1713,0.00,2.45,0.00,0.000,6,0.000,0.036,3335,2073,2754
$GC,1904,1.99,109.5,63.2,9.6,164,1908,0.00,2.60,0.00,0.000,4,0.000,0.067,3336,682,2754
$GC,1982,1.99,109.5,55.4,9.7,169,1989,0.00,2.47,0.00,0.000,6,0.000,0.035,3336,2074,2754
$GC,2179,1.99,109.5,36.3,9.6,185,2183,0.00,2.55,0.00,0.000,4,0.000,0.058,3336,3481,2754
$GC,2436,2.01,125.9,14.7,7.5,209,2455,0.00,2.42,12.45,0.678,6,0.000,0.036,3336,2079,2687
$GC,2523,2.03,137.4,8.8,7.9,222,2536,0.00,2.60,8.48,0.689,4,0.000,0.054,3336,3477,2641
$STATE,2573,end climb,SURFACE_DEPTH_REACHED
$STATE,2573,begin surface coast
$FINISH,2.4,1.022654
$STATE,2601,end surface coast,CONTROL_FINISHED_OK
$STATE,2601,begin surface
$SM_CCo,2630,169.27,0.587,0,0,1163,500.17
$SM_GC,1.08,0.00,0.00,169.27,0.000,0.000,0.587,410,2191,1163,-11.45,-0.25,500.17
$IRIDIUM_FIX,4719.74,-12251.79,021007,020234
$TT8_MAMPS,0.074399
$HUMID,2151
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.6,999.0
$24V_AH,23.6,37.418
$10V_AH,10.1,23.009
$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,31.275,50.425,184.075,169.275,0.000,104.683,119.783,148.178,0.500,0.000,3515.000,18.145,450.571,1516.882,480.991,488.413,516.583,33.341,772.380,0.000,457.786,0.000,2.488
$DEVICE_MAMPS,200.187,76.700,713.310,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.013,0.000,0.000,0.000,0.000,0.000,0.000,3515.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6453,234
$CFSIZE,260231168,250347520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021007,002905,4739.401,-12253.157,12,2.3,31,18.3