version: 66.02
glider: 117
mission: 4
dive: 264
start: 10 3 107 1 40 15
data:
$ID,117
$MISSION,4
$DIVE,264
$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,-22841.584
$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,41
$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
$GPS1,013137,4740.123,-12251.588,15,1.7,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.0
$GPS2,013908,4740.185,-12251.547,10,2.0,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.208
$KALMAN_X,38674.2,417.4,339.1,-37997.7,8.7
$KALMAN_Y,22180.9,284.5,239.7,-21977.1,-23.9
$MHEAD_RNG_PITCHd_Wd,338.8,1376,-20.3,-8.889
$D_GRID,104
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.68,-97.7,0.0,0.0,0,109,0.00,0.00,-78.85,0.000,2,0.000,0.000,406,2213,2774
$GC,113,-1.68,-97.8,2.0,-4.7,13,168,13.30,2.53,-32.92,0.000,4,0.196,0.071,2527,3578,3603
$GC,176,-1.68,-97.8,4.2,-6.3,23,183,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2192,3604
$GC,248,-1.68,-97.8,10.7,-9.3,34,255,0.00,2.60,0.00,0.000,4,0.000,0.065,2527,800,3605
$GC,505,-1.68,-97.8,39.6,-11.2,60,512,0.00,2.47,0.00,0.000,6,0.000,0.037,2527,2190,3605
$GC,701,-1.68,-97.8,60.4,-9.7,76,705,0.00,2.58,0.00,0.000,4,0.000,0.064,2527,804,3605
$GC,779,-1.68,-97.8,68.1,-10.4,81,786,0.00,2.47,0.00,0.000,6,0.000,0.037,2527,2200,3605
$GC,975,-1.68,-97.8,87.5,-9.9,97,980,0.00,2.60,0.00,0.000,4,0.000,0.065,2527,804,3605
$GC,1053,-1.68,-97.8,95.8,-10.0,102,1060,0.00,2.47,0.00,0.000,6,0.000,0.037,2527,2197,3605
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1153,-0.38,0.0,105.0,9.9,110,1236,1.48,0.00,78.38,0.678,6,0.107,0.000,2812,2069,3202
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1240,1.68,97.8,107.6,0.0,117,1325,2.12,2.60,76.68,0.657,4,0.063,0.055,3272,3477,2803
$GC,1357,1.73,132.9,103.2,6.7,126,1389,0.00,2.45,26.88,0.666,6,0.000,0.036,3273,2099,2660
$GC,1577,1.73,132.9,83.4,9.5,144,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2099,2658
$GC,1768,1.73,132.9,65.9,9.5,159,1772,0.00,2.67,0.00,0.000,4,0.000,0.068,3273,679,2657
$GC,1827,1.73,132.9,59.3,11.2,163,1831,0.00,2.47,0.00,0.000,6,0.000,0.036,3273,2080,2658
$GC,2022,1.73,132.9,39.4,10.1,178,2026,0.00,2.53,0.00,0.000,4,0.000,0.060,3273,3476,2658
$GC,2161,1.73,132.9,25.9,9.5,188,2165,0.00,2.45,0.00,0.000,6,0.000,0.037,3273,2074,2657
$GC,2363,1.77,168.0,11.3,6.7,213,2399,0.00,2.65,26.77,0.638,4,0.000,0.055,3273,3483,2516
$GC,2426,1.78,178.0,6.5,8.3,223,2439,0.00,2.47,7.47,0.675,6,0.000,0.036,3273,2078,2476
$STATE,2442,end climb,SURFACE_DEPTH_REACHED
$STATE,2443,begin surface coast
$FINISH,0.2,1.022862
$STATE,2517,end surface coast,CONTROL_FINISHED_OK
$STATE,2517,begin surface
$SM_CCo,2545,146.77,0.577,0,0,1162,500.17
$SM_GC,0.77,0.00,0.00,146.77,0.000,0.000,0.577,404,2212,1162,-11.48,0.31,500.17
$IRIDIUM_FIX,4722.92,-12253.53,031007,040421
$TT8_MAMPS,0.072098
$HUMID,2151
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,999.0
$24V_AH,23.5,39.786
$10V_AH,10.1,24.998
$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,29.875,40.800,216.175,146.775,0.000,63.641,38.744,152.727,0.250,16.610,3258.390,15.756,438.553,1373.057,488.393,464.054,405.619,33.353,767.332,0.000,434.879,0.000,2.487
$DEVICE_MAMPS,196.352,70.564,678.028,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.966,0.000,0.000,0.000,0.000,0.000,0.000,3275.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6430,237
$CFSIZE,260231168,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,022551,4740.452,-12251.672,8,1.8,8,18.3