version: 66.02
glider: 117
mission: 4
dive: 261
start: 10 2 107 22 35 48
data:
$ID,117
$MISSION,4
$DIVE,261
$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,-22781.922
$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,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
$GPS1,222438,4739.820,-12251.625,32,1.5,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.5
$GPS2,223439,4739.916,-12251.457,16,1.9,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,-0.118
$KALMAN_X,37902.7,372.8,346.9,-37076.9,292.2
$KALMAN_Y,21677.9,273.4,256.5,-21974.9,199.3
$MHEAD_RNG_PITCHd_Wd,217.1,1442,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,106,0.00,0.00,-78.57,0.000,2,0.000,0.000,412,2209,2771
$GC,110,-1.68,-97.8,2.1,-4.6,13,160,13.40,2.60,-30.05,0.000,4,0.199,0.071,2526,3604,3603
$GC,337,-1.68,-97.8,21.8,-9.1,47,344,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2205,3605
$GC,533,-1.68,-97.8,40.0,-9.5,63,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2205,3605
$GC,726,-1.68,-97.8,58.1,-10.1,78,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2205,3605
$GC,914,-1.68,-97.8,75.6,-9.1,93,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2205,3605
$GC,1103,-1.68,-97.8,93.6,-9.7,108,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2205,3605
$GC,1291,-1.68,-97.8,110.7,-8.8,123,1295,0.00,2.53,0.00,0.000,4,0.000,0.058,2526,3605,3605
$GC,1345,-1.68,-97.8,115.3,-8.2,127,1350,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2200,3606
$STATE,1387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1387,begin apogee
$GC,1393,-0.38,0.0,119.2,8.6,130,1475,1.48,0.00,77.60,0.694,6,0.107,0.000,2813,2074,3202
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1479,1.68,97.8,121.5,0.0,137,1560,2.15,0.00,76.20,0.670,6,0.064,0.000,3268,2074,2803
$GC,1748,1.76,160.3,110.3,5.1,159,1802,0.00,2.60,48.45,0.667,4,0.000,0.054,3268,3478,2547
$GC,2053,1.76,160.3,77.1,13.4,182,2058,0.00,2.42,0.00,0.000,6,0.000,0.037,3268,2089,2545
$GC,2249,1.76,160.3,53.4,11.8,197,2253,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3478,2544
$GC,2383,1.76,160.3,38.9,10.7,206,2389,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,2072,2544
$GC,2579,1.76,160.3,18.2,11.0,223,2585,0.00,2.55,0.00,0.000,4,0.000,0.054,3268,3476,2544
$STATE,2701,end climb,SURFACE_DEPTH_REACHED
$STATE,2701,begin surface coast
$FINISH,1.4,1.022182
$STATE,2749,end surface coast,CONTROL_FINISHED_OK
$STATE,2749,begin surface
$SM_CCo,2779,160.43,0.584,0,0,1162,500.17
$SM_GC,0.84,0.00,0.00,160.43,0.000,0.000,0.584,408,2183,1162,-11.46,-0.48,500.17
$IRIDIUM_FIX,4722.92,-12247.38,031007,010130
$TT8_MAMPS,0.072098
$HUMID,2170
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.8,999.0
$24V_AH,23.7,39.505
$10V_AH,10.1,24.771
$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,30.150,24.975,202.250,160.425,0.000,61.330,32.061,310.084,0.250,24.900,3654.100,16.698,464.342,1611.062,469.068,466.123,559.825,33.346,735.735,0.000,438.153,0.000,2.492
$DEVICE_MAMPS,199.420,70.564,694.135,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.635,0.000,0.000,0.000,0.000,0.000,0.000,3679.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6458,249
$CFSIZE,260231168,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,232553,4739.760,-12251.647,9,2.1,28,18.3