version: 66.02
glider: 117
mission: 4
dive: 240
start: 10 2 107 0 38 26
data:
$ID,117
$MISSION,4
$DIVE,240
$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,-22272.545
$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,30
$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
$GPS1,002905,4739.401,-12253.157,12,2.3,31,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.3
$GPS2,003720,4739.450,-12253.094,15,1.1,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,0.022
$KALMAN_X,32612.2,-43.9,146.9,-33213.3,-38.3
$KALMAN_Y,17085.9,-32.4,151.3,-17831.6,-40.4
$MHEAD_RNG_PITCHd_Wd,65.6,864,-20.3,-8.889
$D_GRID,117
$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,-1.68,-97.8,0.0,0.0,0,108,0.00,0.00,-78.85,0.000,2,0.000,0.000,410,2191,2794
$GC,111,-1.68,-97.8,2.2,-4.5,13,165,13.30,2.62,-31.33,0.000,4,0.197,0.069,2524,3600,3602
$GC,397,-1.68,-97.8,30.3,-11.8,51,401,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2198,3604
$GC,592,-1.68,-97.8,51.1,-10.4,66,596,0.00,2.60,0.00,0.000,4,0.000,0.066,2524,802,3604
$GC,677,-1.68,-97.8,60.6,-11.4,72,682,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2203,3604
$GC,873,-1.68,-97.8,81.9,-10.7,87,877,0.00,2.53,0.00,0.000,4,0.000,0.059,2524,3597,3604
$GC,977,-1.68,-97.8,93.2,-9.9,94,984,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2200,3604
$GC,1173,-1.68,-97.8,112.9,-10.2,110,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3604
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1228,-0.38,0.0,118.1,10.2,114,1310,1.48,0.00,78.00,0.692,6,0.104,0.000,2812,2074,3202
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1313,1.68,97.8,121.0,0.0,121,1398,2.12,0.00,76.80,0.672,6,0.065,0.000,3269,2074,2802
$GC,1587,1.71,115.5,107.7,7.8,143,1606,0.00,2.58,13.35,0.700,4,0.000,0.054,3269,3476,2730
$GC,1737,1.71,115.5,93.8,9.8,154,1742,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2088,2730
$GC,1933,1.72,123.6,76.4,8.4,169,1946,0.00,2.55,6.07,0.731,4,0.000,0.055,3268,3479,2697
$GC,2096,1.72,123.6,61.5,9.0,181,2104,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2078,2696
$GC,2293,1.72,127.5,44.7,8.7,197,2305,0.00,2.60,2.55,0.782,4,0.000,0.054,3269,3476,2682
$GC,2336,1.72,127.5,40.7,8.9,200,2343,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2087,2682
$GC,2533,1.73,132.9,23.9,8.6,216,2545,0.00,2.55,3.90,0.744,4,0.000,0.054,3269,3476,2660
$GC,2564,1.75,147.6,21.4,8.0,218,2584,0.00,2.47,11.40,0.676,6,0.000,0.035,3269,2078,2599
$GC,2784,1.81,199.2,5.4,5.7,250,2791,0.12,0.00,5.00,0.716,2,0.064,0.000,3299,2077,2572
$STATE,2792,end climb,SURFACE_DEPTH_REACHED
$STATE,2792,begin surface coast
$FINISH,0.3,1.022800
$STATE,2898,end surface coast,CONTROL_FINISHED_OK
$STATE,2898,begin surface
$SM_CCo,2926,168.12,0.588,0,0,1162,500.17
$SM_GC,1.06,0.00,0.00,168.12,0.000,0.000,0.588,408,2216,1162,-11.46,0.48,500.17
$IRIDIUM_FIX,4719.74,-12254.47,021007,030320
$TT8_MAMPS,0.071331
$HUMID,2162
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.5,999.0
$24V_AH,23.6,37.506
$10V_AH,10.1,23.087
$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,30.100,35.550,197.075,168.125,0.000,62.171,34.675,191.566,0.250,0.000,3724.000,32.663,497.365,1651.791,496.231,535.561,434.971,33.350,794.227,0.000,488.287,0.000,2.491
$DEVICE_MAMPS,197.119,69.030,782.340,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.366,0.000,0.000,0.000,0.000,0.000,0.000,3724.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6421,267
$CFSIZE,260231168,250314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021007,013105,4739.466,-12252.739,10,2.3,29,18.3