version: 66.02
glider: 117
mission: 4
dive: 262
start: 10 2 107 23 38 40
data:
$ID,117
$MISSION,4
$DIVE,262
$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,-22795.176
$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,32
$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
$GPS1,232553,4739.760,-12251.647,9,2.1,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-55.8
$GPS2,233733,4739.829,-12251.488,12,2.0,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,-0.107
$KALMAN_X,38161.2,420.5,442.8,-37520.0,126.4
$KALMAN_Y,21771.6,286.8,312.9,-22297.2,79.0
$MHEAD_RNG_PITCHd_Wd,220.8,1322,-20.3,-8.889
$D_GRID,120
$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,-1.68,-97.8,0.0,0.0,0,114,0.00,0.00,-84.65,0.000,2,0.000,0.000,408,2184,2871
$GC,118,-1.68,-97.8,2.2,-5.1,14,161,13.35,2.58,-23.80,0.000,4,0.200,0.068,2523,3597,3602
$GC,411,-1.68,-97.8,33.1,-10.8,50,419,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2205,3604
$GC,608,-1.68,-97.8,52.4,-9.7,66,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2205,3604
$GC,801,-1.68,-97.8,71.2,-10.2,81,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2205,3604
$GC,988,-1.68,-97.8,89.9,-9.8,96,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2205,3604
$GC,1176,-1.68,-97.8,111.3,-12.0,111,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2205,3604
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1256,-0.38,0.0,120.3,11.8,117,1338,1.50,0.00,77.95,0.691,6,0.108,0.000,2812,2068,3201
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1341,1.68,97.8,125.0,0.0,124,1427,2.10,2.67,76.38,0.671,4,0.064,0.066,3268,680,2802
$GC,1538,1.69,104.9,116.6,8.5,139,1549,0.00,2.50,5.28,0.737,6,0.000,0.036,3268,2077,2773
$GC,1748,1.70,108.6,98.0,8.7,156,1752,0.00,0.00,2.45,0.792,6,0.000,0.000,3268,2077,2759
$GC,1937,1.70,108.6,80.6,11.1,171,1941,0.00,2.55,0.00,0.000,4,0.000,0.059,3268,3475,2759
$GC,2009,1.70,108.6,73.6,9.6,176,2013,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2086,2758
$GC,2204,1.78,171.9,58.4,5.0,191,2259,0.00,2.58,49.05,0.651,4,0.000,0.054,3268,3476,2500
$GC,2457,1.78,171.9,34.1,10.7,210,2462,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,2080,2497
$GC,2655,1.78,171.9,13.4,10.2,229,2661,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3476,2498
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,0.1,1.022549
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2848,149.38,0.581,0,0,1163,500.17
$SM_GC,0.81,0.00,0.00,149.38,0.000,0.000,0.581,410,2189,1163,-11.45,-0.31,500.17
$IRIDIUM_FIX,4719.74,-12254.47,031007,030318
$TT8_MAMPS,0.071331
$HUMID,2160
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,27.8
$24V_AH,23.7,39.607
$10V_AH,10.1,24.851
$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,29.975,25.175,211.100,149.375,0.000,98.844,185.607,160.862,0.500,33.220,3806.780,12.626,472.175,1711.212,458.664,487.027,596.068,33.353,739.677,0.000,460.068,0.000,2.490
$DEVICE_MAMPS,200.187,68.263,792.311,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.231,0.000,0.000,0.000,0.000,0.000,0.000,3840.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6456,254
$CFSIZE,260231168,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,002947,4739.703,-12251.674,14,2.4,33,18.3