version: 66.02
glider: 117
mission: 4
dive: 265
start: 10 3 107 2 38 29
data:
$ID,117
$MISSION,4
$DIVE,265
$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,-22873.586
$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,37
$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
$GPS1,022551,4740.452,-12251.672,8,1.8,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-58.9
$GPS2,023723,4740.542,-12251.646,11,2.1,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,0.196
$KALMAN_X,38705.2,407.2,237.3,-38036.7,-117.6
$KALMAN_Y,22415.1,281.5,156.2,-21463.0,-11.8
$MHEAD_RNG_PITCHd_Wd,1.9,717,-20.3,-8.889
$D_GRID,99
$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,24,begin dive
$GC,27,-1.68,-97.8,0.0,0.0,0,113,0.00,0.00,-83.10,0.000,2,0.000,0.000,404,2212,2836
$GC,116,-1.68,-97.8,2.0,-4.5,14,166,13.35,2.65,-29.42,0.000,4,0.198,0.074,2523,797,3601
$GC,417,-1.68,-97.8,31.3,-10.0,53,421,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2195,3603
$GC,612,-1.68,-97.8,51.4,-9.7,68,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2195,3604
$GC,805,-1.68,-97.8,70.2,-9.9,83,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2195,3604
$GC,993,-1.68,-97.8,89.3,-10.2,98,997,0.00,2.60,0.00,0.000,4,0.000,0.066,2524,799,3604
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1097,-0.38,0.0,99.0,9.7,105,1180,1.45,0.00,78.03,0.678,6,0.107,0.000,2808,2088,3202
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,1.68,97.8,102.1,0.0,112,1266,2.12,0.00,76.65,0.656,6,0.063,0.000,3268,2088,2803
$GC,1451,1.70,111.9,86.3,8.0,134,1464,0.00,0.00,10.50,0.697,6,0.000,0.000,3268,2088,2746
$GC,1652,1.71,119.7,70.1,8.4,150,1665,0.00,2.67,5.60,0.719,4,0.000,0.065,3268,679,2714
$GC,1733,1.71,119.7,63.0,9.2,156,1737,0.00,2.47,0.00,0.000,6,0.000,0.036,3269,2083,2714
$GC,1928,1.71,119.7,44.7,9.4,171,1932,0.00,2.55,0.00,0.000,4,0.000,0.060,3268,3478,2714
$GC,2187,1.71,120.0,21.0,8.9,190,2192,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,2073,2713
$GC,2392,1.78,179.5,7.7,5.3,219,2442,0.00,1.15,45.95,0.625,3,0.000,0.041,3268,2720,2470
$STATE,2442,end climb,SURFACE_DEPTH_REACHED
$STATE,2442,begin surface coast
$FINISH,0.1,1.022878
$STATE,2527,end surface coast,CONTROL_FINISHED_OK
$STATE,2527,begin surface
$SM_CCo,2556,145.68,0.574,0,0,1162,500.17
$SM_GC,0.79,0.00,0.00,145.68,0.000,0.000,0.574,403,2179,1162,-11.49,-0.59,500.17
$IRIDIUM_FIX,4722.92,-12253.53,031007,060626
$TT8_MAMPS,0.073632
$HUMID,2165
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,74.1,999.0
$24V_AH,23.5,39.882
$10V_AH,10.1,25.073
$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,29.925,22.175,216.725,145.675,0.000,101.156,72.429,239.114,0.500,16.600,3486.400,31.375,439.068,1482.151,464.371,472.747,562.780,33.344,725.083,0.000,428.469,0.000,2.489
$DEVICE_MAMPS,197.886,73.632,718.679,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.135,0.000,0.000,0.000,0.000,0.000,0.000,3503.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6454,240
$CFSIZE,260231168,249470976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,032415,4740.788,-12251.724,9,1.9,9,18.3