version: 66.02
glider: 117
mission: 4
dive: 263
start: 10 3 107 0 39 43
data:
$ID,117
$MISSION,4
$DIVE,263
$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,-22825.199
$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,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
$GPS1,002947,4739.703,-12251.674,14,2.4,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.2
$GPS2,003837,4739.766,-12251.577,13,1.5,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.211
$KALMAN_X,38491.0,437.7,436.4,-37973.5,27.7
$KALMAN_Y,21924.5,294.0,312.1,-22575.5,-37.8
$MHEAD_RNG_PITCHd_Wd,338.8,2150,-20.0,-8.889
$D_GRID,121
$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,-1.66,-97.8,0.0,0.0,0,113,0.00,0.00,-82.90,0.000,2,0.000,0.000,410,2189,2841
$GC,116,-1.66,-97.8,2.1,-4.6,14,165,13.32,2.60,-26.27,0.000,4,0.199,0.068,2529,3594,3605
$GC,403,-1.66,-97.8,31.6,-11.0,50,407,0.00,2.42,0.00,0.000,6,0.000,0.035,2529,2198,3606
$GC,598,-1.66,-97.8,51.7,-10.9,65,602,0.00,2.62,0.00,0.000,4,0.000,0.067,2529,797,3606
$GC,672,-1.66,-97.8,59.8,-10.9,70,676,0.00,2.47,0.00,0.000,6,0.000,0.036,2529,2207,3606
$GC,867,-1.66,-97.8,79.8,-9.7,85,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2207,3606
$GC,1060,-1.66,-97.8,99.3,-10.3,100,1065,0.00,2.62,0.00,0.000,4,0.000,0.065,2529,801,3606
$GC,1187,-1.66,-97.8,111.9,-9.9,109,1191,0.00,2.45,0.00,0.000,6,0.000,0.037,2529,2201,3606
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1266,begin apogee
$GC,1273,-0.38,0.0,120.0,9.4,115,1356,1.45,0.00,79.18,0.688,6,0.107,0.000,2811,2061,3202
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,1.66,97.8,122.7,0.0,122,1444,2.10,2.62,76.43,0.670,4,0.062,0.055,3265,3476,2802
$GC,1524,1.68,113.2,114.1,8.0,135,1541,0.00,2.42,11.68,0.702,6,0.000,0.036,3265,2093,2740
$GC,1732,1.68,116.7,96.2,8.7,151,1743,0.00,2.75,2.28,0.787,4,0.000,0.067,3265,673,2725
$GC,1854,1.69,122.8,85.1,8.5,160,1865,0.00,2.50,4.35,0.744,6,0.000,0.036,3265,2078,2701
$GC,2063,1.70,127.8,67.1,8.6,177,2069,0.00,0.00,3.72,0.759,6,0.000,0.000,3265,2081,2681
$GC,2252,1.71,139.2,51.2,8.2,192,2268,0.00,2.70,8.85,0.703,4,0.000,0.067,3265,679,2634
$GC,2295,1.71,139.2,47.3,9.4,195,2302,0.00,2.50,0.00,0.000,6,0.000,0.036,3265,2076,2633
$GC,2492,1.71,139.2,28.9,9.3,211,2496,0.00,2.53,0.00,0.000,4,0.000,0.058,3265,3477,2632
$GC,2546,1.71,139.2,23.6,10.4,215,2550,0.00,2.45,0.00,0.000,6,0.000,0.036,3265,2070,2632
$GC,2749,1.76,178.0,6.3,6.6,242,2774,0.00,0.00,23.02,0.645,2,0.000,0.000,3265,2070,2512
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,0.1,1.022624
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2901,152.02,0.580,0,0,1163,500.17
$SM_GC,0.82,0.00,0.00,152.02,0.000,0.000,0.580,405,2212,1163,-11.47,0.34,500.17
$IRIDIUM_FIX,4722.92,-12244.69,031007,030301
$TT8_MAMPS,0.071331
$HUMID,2152
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.3,39.698
$10V_AH,10.1,24.929
$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,29.750,36.075,209.500,152.025,0.000,62.652,32.151,221.774,0.500,4.150,3710.850,29.395,492.430,1644.668,473.018,522.779,477.852,33.352,771.368,0.000,479.507,0.000,2.491
$DEVICE_MAMPS,198.653,68.263,786.942,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.188,0.000,0.000,0.000,0.000,0.000,0.000,3715.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6466,261
$CFSIZE,260231168,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,013137,4740.123,-12251.588,15,1.7,25,18.3