version: 66.02
glider: 117
mission: 4
dive: 275
start: 10 3 107 12 22 14
data:
$ID,117
$MISSION,4
$DIVE,275
$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,-23162.854
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,120929,4742.221,-12251.321,8,4.8,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.5
$GPS2,122108,4742.184,-12251.354,41,1.2,41,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,0.149
$KALMAN_X,38827.0,-147.2,115.2,-37118.8,-107.8
$KALMAN_Y,22010.3,-184.1,-60.3,-17330.5,-21.9
$MHEAD_RNG_PITCHd_Wd,21.1,697,-16.6,-7.037
$D_GRID,137
$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,-1.39,-97.8,0.0,0.0,0,115,0.00,0.00,-84.60,0.000,2,0.000,0.000,408,2189,2881
$GC,118,-1.39,-97.8,2.1,-3.0,14,167,13.73,2.60,-26.42,0.000,4,0.196,0.069,2593,3590,3603
$GC,419,-1.39,-97.8,27.1,-8.9,54,423,0.00,2.40,0.00,0.000,6,0.000,0.035,2592,2203,3605
$GC,614,-1.39,-97.8,42.6,-7.5,69,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,3605
$GC,807,-1.39,-97.8,57.0,-7.4,84,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,3605
$GC,994,-1.39,-97.8,71.5,-7.7,99,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,3605
$GC,1184,-1.39,-97.8,86.0,-7.8,114,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,3605
$STATE,1305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1312,-0.38,0.0,95.6,7.7,124,1393,1.12,0.00,77.62,0.675,6,0.097,0.000,2816,2076,3202
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1397,1.39,97.8,97.9,0.0,131,1483,1.80,2.60,76.40,0.653,4,0.061,0.054,3199,3478,2802
$GC,1509,1.44,133.4,94.3,5.3,140,1546,0.00,2.45,27.83,0.657,6,0.000,0.035,3198,2084,2656
$GC,1734,1.44,133.4,77.1,8.2,158,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2084,2654
$GC,1926,1.44,133.4,62.1,8.0,173,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2084,2653
$GC,2115,1.44,133.4,47.8,7.9,188,2119,0.00,2.53,0.00,0.000,4,0.000,0.055,3198,3473,2654
$GC,2206,1.44,133.4,40.2,8.2,194,2213,0.00,2.45,0.00,0.000,6,0.000,0.035,3198,2082,2653
$GC,2402,1.44,133.4,25.6,7.2,210,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2083,2655
$GC,2597,1.45,145.5,11.6,6.5,234,2615,0.00,2.58,8.62,0.686,4,0.000,0.054,3198,3472,2608
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2720,begin surface coast
$FINISH,0.1,1.022708
$STATE,2812,end surface coast,CONTROL_FINISHED_OK
$STATE,2812,begin surface
$SM_CCo,2842,164.00,0.581,0,0,1162,500.17
$SM_GC,0.83,0.00,0.00,164.00,0.000,0.000,0.581,409,2184,1162,-11.46,-0.45,500.17
$IRIDIUM_FIX,4726.11,-12253.53,031007,151510
$TT8_MAMPS,0.071331
$HUMID,2172
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.5,40.782
$10V_AH,10.1,25.812
$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,29.375,20.025,190.475,164.000,0.000,93.943,145.350,172.167,0.250,24.900,3796.100,41.371,479.499,1726.903,458.477,496.586,570.315,33.360,731.065,0.000,442.546,0.000,2.488
$DEVICE_MAMPS,195.585,69.030,686.465,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.047,0.000,0.000,0.000,0.000,0.000,0.000,3821.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6431,267
$CFSIZE,260231168,249163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,131329,4742.383,-12251.119,13,2.1,32,18.3