version: 66.02
glider: 117
mission: 4
dive: 274
start: 10 3 107 11 16 57
data:
$ID,117
$MISSION,4
$DIVE,274
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-23120.854
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,110839,4741.983,-12251.344,15,1.8,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.7
$GPS2,111550,4741.970,-12251.357,10,1.8,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,0.180
$KALMAN_X,38997.2,-88.1,57.3,-37293.8,-34.8
$KALMAN_Y,22091.0,-122.3,-115.8,-17812.7,-51.4
$MHEAD_RNG_PITCHd_Wd,3.1,1058,-16.6,-7.037
$D_GRID,133
$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,25,begin dive
$GC,28,-1.39,-97.8,0.0,0.0,0,114,0.00,0.00,-82.90,0.000,2,0.000,0.000,409,2214,2859
$GC,117,-1.39,-97.8,2.0,-3.2,14,166,13.68,2.65,-28.65,0.000,4,0.196,0.073,2593,799,3600
$GC,370,-1.39,-97.8,22.2,-7.5,51,377,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2192,3603
$GC,567,-1.39,-97.8,35.7,-7.2,67,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2192,3604
$GC,758,-1.39,-97.8,49.8,-8.0,82,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2192,3603
$GC,947,-1.39,-97.8,64.9,-7.9,97,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2191,3603
$GC,1138,-1.39,-97.8,79.8,-7.8,112,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2192,3603
$GC,1326,-1.39,-97.8,94.5,-7.5,127,1330,0.00,2.12,0.00,0.000,3,0.000,0.059,2593,1026,3603
$STATE,1331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1339,-0.38,0.0,95.0,7.4,127,1420,1.08,0.00,77.68,0.675,6,0.097,0.000,2809,2085,3202
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1424,1.39,97.8,97.7,0.0,134,1510,1.85,2.58,76.53,0.656,4,0.062,0.056,3200,3475,2802
$GC,1550,1.43,123.9,93.4,5.8,144,1575,0.00,2.45,19.92,0.668,6,0.000,0.036,3200,2079,2696
$GC,1763,1.43,123.9,78.3,7.2,161,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2079,2694
$GC,1955,1.43,124.0,65.0,7.0,176,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2079,2693
$GC,2144,1.43,124.0,50.9,7.7,191,2148,0.00,2.53,0.00,0.000,4,0.000,0.054,3200,3473,2693
$GC,2229,1.43,124.0,43.9,8.0,197,2233,0.00,2.42,0.00,0.000,6,0.000,0.036,3200,2080,2693
$GC,2425,1.44,131.2,30.3,6.7,212,2437,0.00,2.55,5.00,0.729,4,0.000,0.054,3200,3472,2667
$GC,2517,1.44,131.2,23.6,7.3,219,2521,0.00,2.42,0.00,0.000,6,0.000,0.036,3200,2081,2667
$GC,2719,1.48,168.6,10.6,5.2,245,2757,0.10,2.55,28.92,0.642,4,0.055,0.054,3229,3471,2513
$STATE,2814,end climb,SURFACE_DEPTH_REACHED
$STATE,2814,begin surface coast
$FINISH,0.2,1.022622
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2936,151.27,0.584,0,0,1162,500.17
$SM_GC,0.71,0.00,0.00,151.27,0.000,0.000,0.584,408,2188,1162,-11.46,-0.34,500.17
$IRIDIUM_FIX,4722.92,-12249.11,031007,141456
$TT8_MAMPS,0.072098
$HUMID,2183
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.5,40.685
$10V_AH,10.1,25.732
$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,29.750,28.850,208.050,151.275,0.000,62.580,32.270,140.639,0.250,24.920,3612.080,15.642,494.038,1707.044,462.903,486.330,396.808,33.359,748.533,0.000,457.780,0.000,2.493
$DEVICE_MAMPS,195.585,72.865,729.417,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.071,0.000,0.000,0.000,0.000,0.000,0.000,3637.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6435,274
$CFSIZE,260231168,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,120929,4742.221,-12251.321,8,4.8,27,18.3