version: 66.02
glider: 117
mission: 4
dive: 244
start: 10 2 107 4 43 9
data:
$ID,117
$MISSION,4
$DIVE,244
$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,-22351.867
$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,43
$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,3
$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
$GPS1,043337,4739.511,-12252.994,37,1.5,37,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.6
$GPS2,044202,4739.586,-12252.923,10,1.5,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.121
$KALMAN_X,33079.4,-1.3,-79.9,-33284.1,118.5
$KALMAN_Y,17683.2,49.2,-80.0,-18030.7,111.4
$MHEAD_RNG_PITCHd_Wd,216.2,413,-20.3,-8.889
$D_GRID,119
$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,29,-1.68,-97.8,0.0,0.0,0,110,0.00,0.00,-78.47,0.000,2,0.000,0.000,407,2215,2807
$GC,113,-1.68,-97.8,2.3,-4.7,13,156,13.35,0.00,-26.38,0.000,6,0.198,0.000,2525,2216,3602
$GC,222,-1.68,-97.8,10.4,-9.7,30,228,0.00,2.65,0.00,0.000,4,0.000,0.063,2526,799,3604
$GC,300,-1.68,-97.8,18.6,-11.3,42,306,0.00,2.42,0.00,0.000,6,0.000,0.036,2526,2189,3605
$GC,369,-1.68,-97.8,26.4,-11.4,49,373,0.00,2.55,0.00,0.000,4,0.000,0.058,2526,3598,3606
$GC,402,-1.68,-97.8,29.8,-11.2,51,406,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2192,3605
$GC,597,-1.68,-97.8,50.3,-10.1,66,601,0.00,2.55,0.00,0.000,4,0.000,0.057,2527,3600,3605
$GC,643,-1.68,-97.8,55.2,-11.3,69,647,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2194,3605
$GC,845,-1.68,-97.8,75.6,-9.8,85,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3605
$GC,1035,-1.68,-97.8,94.6,-10.2,100,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$GC,1223,-1.68,-97.8,113.4,-9.6,115,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$STATE,1284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1290,-0.38,0.0,119.8,10.0,120,1372,1.48,0.00,77.90,0.693,6,0.107,0.000,2812,2069,3202
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,1.68,97.8,122.5,0.0,127,1463,2.10,2.65,76.68,0.673,4,0.064,0.064,3269,687,2802
$GC,1495,1.73,138.6,118.2,6.4,136,1531,0.00,2.50,31.02,0.687,6,0.000,0.035,3269,2080,2637
$GC,1723,1.73,138.6,97.2,9.7,154,1727,0.00,2.53,0.00,0.000,4,0.000,0.059,3269,3474,2635
$GC,1947,1.73,138.6,73.2,10.6,170,1953,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2081,2636
$GC,2142,1.73,138.6,53.8,9.6,186,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2081,2634
$GC,2332,1.73,138.6,36.4,9.0,201,2336,0.00,2.50,0.00,0.000,4,0.000,0.054,3269,3475,2634
$GC,2424,1.73,138.6,28.0,9.0,208,2428,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2078,2634
$GC,2624,1.80,188.7,13.9,5.8,230,2671,0.00,2.62,38.45,0.646,4,0.000,0.055,3269,3474,2431
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.3,1.010265
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2771,begin surface
$SM_CCo,2804,141.82,0.586,0,0,1162,500.17
$SM_GC,1.11,0.00,0.00,141.82,0.000,0.000,0.586,406,2199,1162,-11.47,0.00,500.17
$IRIDIUM_FIX,4719.74,-12227.05,021007,070736
$TT8_MAMPS,0.095108
$HUMID,2155
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,94.6,999.0
$24V_AH,23.6,37.856
$10V_AH,9.9,23.409
$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,29.825,35.100,224.050,141.825,0.000,65.230,36.054,177.418,0.500,0.000,3605.000,15.223,434.905,1651.187,466.658,476.524,432.454,33.354,752.474,0.000,447.349,0.000,2.491
$DEVICE_MAMPS,197.886,64.428,692.601,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.425,0.000,0.000,0.000,0.000,0.000,3179.190,3605.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6458,253
$CFSIZE,260231168,250208256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021007,053303,4739.470,-12253.124,13,1.8,13,18.3