version: 66.02
glider: 117
mission: 4
dive: 255
start: 10 2 107 15 55 59
data:
$ID,117
$MISSION,4
$DIVE,255
$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,-22649.898
$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,34
$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
$GPS1,154629,4739.506,-12252.833,11,3.0,30,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-56.3
$GPS2,155453,4739.588,-12252.747,12,3.5,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,-0.056
$KALMAN_X,35275.6,361.6,-18.5,-35683.8,-80.8
$KALMAN_Y,19658.1,305.6,-27.8,-20310.9,-69.4
$MHEAD_RNG_PITCHd_Wd,88.2,486,-21.4,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.76,-88.1,0.0,0.0,0,114,0.00,0.00,-84.72,0.000,2,0.000,0.000,408,2186,2896
$GC,117,-1.77,-97.8,2.2,-5.0,14,160,13.38,2.58,-23.85,0.000,4,0.199,0.068,2507,3601,3602
$GC,410,-1.77,-97.8,32.5,-10.9,51,418,0.00,2.45,0.00,0.000,6,0.000,0.035,2507,2208,3603
$GC,607,-1.77,-97.8,53.8,-11.0,67,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2208,3604
$GC,800,-1.77,-97.8,75.3,-11.2,82,804,0.00,2.53,0.00,0.000,4,0.000,0.058,2507,3597,3604
$GC,858,-1.77,-97.8,82.5,-11.4,86,863,0.00,2.42,0.00,0.000,6,0.000,0.035,2507,2201,3604
$GC,1054,-1.77,-97.8,103.2,-10.0,101,1058,0.00,2.55,0.00,0.000,4,0.000,0.056,2507,3595,3604
$GC,1126,-1.77,-97.8,111.4,-12.4,106,1130,0.00,2.42,0.00,0.000,6,0.000,0.035,2507,2195,3604
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1212,-0.38,0.0,120.5,10.9,112,1294,1.58,0.00,77.70,0.696,6,0.110,0.000,2810,2072,3202
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1297,1.77,97.8,124.0,0.0,119,1383,2.20,2.60,76.65,0.675,4,0.062,0.053,3290,3478,2804
$GC,1476,1.78,104.6,115.8,8.4,133,1488,0.00,2.45,5.07,0.745,6,0.000,0.035,3290,2076,2775
$GC,1677,1.80,125.0,99.5,7.5,149,1702,0.00,2.62,15.52,0.695,4,0.000,0.054,3290,3475,2691
$GC,1905,1.80,125.0,77.7,10.0,166,1913,0.00,2.45,0.00,0.000,6,0.000,0.035,3290,2087,2691
$GC,2102,1.80,125.0,59.4,9.2,182,2106,0.00,2.53,0.00,0.000,4,0.000,0.054,3290,3482,2691
$GC,2193,1.80,125.0,50.1,10.3,188,2200,0.00,2.47,0.00,0.000,6,0.000,0.036,3291,2079,2690
$GC,2389,1.80,125.0,30.8,9.6,204,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2080,2692
$GC,2582,1.81,126.7,12.9,8.8,224,2588,0.00,2.53,0.00,0.000,4,0.000,0.054,3290,3476,2691
$STATE,2744,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,0.1,1.022980
$STATE,3076,end surface coast,CONTROL_FINISHED_OK
$STATE,3077,begin surface
$SM_CCo,3107,175.68,0.591,0,0,1162,500.17
$SM_GC,0.87,0.00,0.00,175.68,0.000,0.000,0.591,406,2182,1162,-11.47,-0.54,500.17
$IRIDIUM_FIX,4719.74,-12256.21,021007,181808
$TT8_MAMPS,0.071331
$HUMID,2173
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.5,38.864
$10V_AH,10.1,24.272
$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,30.200,35.025,174.950,175.675,0.000,62.534,39.439,186.148,0.500,37.360,3848.640,32.022,547.975,1765.174,474.103,582.317,443.882,33.342,786.987,0.000,535.747,0.000,2.488
$DEVICE_MAMPS,199.420,68.263,744.757,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,211.898,0.000,0.000,0.000,0.000,0.000,0.000,3886.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,9594,299
$CFSIZE,260231168,249798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,165156,4739.542,-12252.305,39,1.5,39,18.3