version: 66.02
glider: 117
mission: 4
dive: 245
start: 10 2 107 5 44 16
data:
$ID,117
$MISSION,4
$DIVE,245
$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,-22365.07
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,053303,4739.470,-12253.124,13,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.3
$GPS2,054309,4739.570,-12252.998,12,1.7,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,-0.133
$KALMAN_X,33354.4,46.5,-71.1,-33710.4,180.3
$KALMAN_Y,17910.7,89.3,-75.7,-18333.7,167.7
$MHEAD_RNG_PITCHd_Wd,212.2,318,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.68,-97.8,0.0,0.0,0,111,0.00,0.00,-78.43,0.000,2,0.000,0.000,407,2199,2787
$GC,114,-1.68,-97.8,2.3,-4.4,13,162,13.32,0.00,-28.25,0.000,6,0.197,0.000,2525,2199,3604
$GC,228,-1.68,-97.8,10.8,-8.6,31,234,0.00,2.62,0.00,0.000,4,0.000,0.065,2527,795,3605
$GC,293,-1.68,-97.8,17.7,-11.9,41,299,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2203,3607
$GC,369,-1.68,-97.8,25.7,-10.3,49,373,0.00,2.53,0.00,0.000,4,0.000,0.058,2525,3600,3605
$GC,427,-1.68,-97.8,32.1,-10.8,53,434,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2201,3605
$GC,623,-1.68,-97.8,52.3,-10.5,69,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2202,3605
$GC,813,-1.68,-97.8,71.1,-9.7,84,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3605
$GC,1002,-1.68,-97.8,89.5,-9.9,99,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3605
$GC,1191,-1.68,-97.8,107.4,-9.2,114,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3605
$STATE,1317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1317,begin apogee
$GC,1323,-0.38,0.0,118.6,8.6,124,1405,1.45,0.00,77.85,0.698,6,0.107,0.000,2810,2074,3202
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1410,1.68,97.8,121.0,0.0,131,1495,2.12,2.60,76.62,0.674,4,0.063,0.054,3268,3482,2803
$GC,1527,1.73,133.5,116.8,6.7,140,1560,0.00,2.47,27.58,0.673,6,0.000,0.035,3268,2089,2657
$GC,1757,1.73,133.5,95.0,10.4,159,1761,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3479,2655
$GC,1874,1.73,133.5,82.7,10.2,167,1881,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2077,2655
$GC,2071,1.73,133.5,63.4,9.7,183,2075,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3477,2654
$GC,2182,1.73,133.5,51.7,9.6,191,2187,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2079,2654
$GC,2378,1.73,133.5,33.1,9.4,206,2382,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3478,2654
$GC,2436,1.73,133.5,27.7,9.1,210,2441,0.00,2.42,0.00,0.000,6,0.000,0.035,3268,2079,2654
$GC,2637,1.75,154.4,12.5,7.6,232,2661,0.00,2.60,15.57,0.667,4,0.000,0.054,3268,3471,2572
$STATE,2724,end climb,SURFACE_DEPTH_REACHED
$STATE,2724,begin surface coast
$FINISH,0.3,1.010309
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2820,158.12,0.589,0,0,1162,500.17
$SM_GC,1.03,0.00,0.00,158.12,0.000,0.000,0.589,407,2195,1162,-11.47,-0.14,500.17
$IRIDIUM_FIX,4722.92,-12251.79,021007,080836
$TT8_MAMPS,0.09204
$HUMID,2152
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,93.0,999.0
$24V_AH,23.7,37.947
$10V_AH,10.0,23.497
$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,29.775,35.050,197.625,158.125,0.000,64.242,35.962,253.598,0.500,0.000,3683.000,12.574,443.409,1677.108,474.514,472.751,527.292,33.352,750.103,0.000,439.728,0.000,2.492
$DEVICE_MAMPS,197.119,65.195,697.970,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.851,0.000,0.000,0.000,0.000,0.000,3247.200,3683.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6442,255
$CFSIZE,260231168,250163200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,063459,4739.477,-12253.156,10,3.2,29,18.3