version: 66.02
glider: 117
mission: 4
dive: 278
start: 10 3 107 15 19 2
data:
$ID,117
$MISSION,4
$DIVE,278
$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,-23265.795
$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,32
$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
$GPS1,150951,4742.771,-12251.012,9,1.2,9,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.0
$GPS2,151756,4742.792,-12251.007,15,1.1,32,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,7_GN
$TGT_LATLONG,4743.035,-12250.898
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.166
$KALMAN_X,38683.5,-281.3,49.7,-36343.3,-79.3
$KALMAN_Y,21922.6,-276.1,89.2,-16174.6,3.3
$MHEAD_RNG_PITCHd_Wd,7.2,469,-17.7,-7.037
$D_GRID,160
$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,-1.46,-87.1,0.0,0.0,0,115,0.00,0.00,-84.97,0.000,2,0.000,0.000,411,2190,2900
$GC,118,-1.48,-97.8,2.1,-3.4,14,167,13.60,2.65,-25.33,0.000,4,0.198,0.075,2575,805,3603
$GC,418,-1.48,-97.8,28.2,-8.8,53,422,0.00,2.45,0.00,0.000,6,0.000,0.036,2575,2202,3605
$GC,613,-1.48,-97.8,43.8,-8.2,68,618,0.00,2.60,0.00,0.000,4,0.000,0.063,2575,805,3605
$GC,638,-1.48,-97.8,45.8,-8.1,69,645,0.00,2.47,0.00,0.000,6,0.000,0.035,2575,2202,3605
$GC,835,-1.48,-97.8,62.3,-9.0,85,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2202,3605
$GC,1026,-1.48,-97.8,78.0,-8.3,100,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2202,3605
$GC,1215,-1.48,-97.8,94.7,-8.6,115,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2202,3605
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1230,-0.38,0.0,95.8,8.7,116,1311,1.23,0.00,77.68,0.672,6,0.097,0.000,2816,2075,3202
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1315,1.48,97.8,98.7,0.0,123,1400,1.90,0.00,76.68,0.653,6,0.062,0.000,3219,2075,2802
$GC,1590,1.50,113.0,85.9,6.2,145,1606,0.00,2.60,11.38,0.691,4,0.000,0.057,3219,3479,2740
$GC,1686,1.50,113.0,78.7,7.8,152,1693,0.00,2.45,0.00,0.000,6,0.000,0.036,3219,2093,2740
$GC,1883,1.50,113.0,64.5,7.4,168,1887,0.00,2.50,0.00,0.000,4,0.000,0.054,3219,3476,2739
$GC,1947,1.50,113.0,59.3,7.5,172,1954,0.00,2.45,0.00,0.000,6,0.000,0.036,3219,2088,2739
$GC,2144,1.50,113.0,45.5,7.2,188,2148,0.00,2.53,0.00,0.000,4,0.000,0.054,3219,3480,2739
$GC,2216,1.50,113.0,40.0,7.3,193,2220,0.00,2.45,0.00,0.000,6,0.000,0.036,3219,2071,2738
$GC,2412,1.50,113.0,26.2,7.2,208,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2070,2739
$GC,2605,1.53,139.7,13.7,5.6,230,2631,0.00,2.65,20.15,0.657,4,0.000,0.054,3222,3476,2631
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,3.9,1.022590
$STATE,2796,end surface coast,CONTROL_FINISHED_OK
$STATE,2797,begin surface
$SM_CCo,2826,170.75,0.583,0,0,1162,500.17
$SM_GC,0.72,0.00,0.00,170.75,0.000,0.000,0.583,412,2185,1162,-11.44,-0.42,500.17
$IRIDIUM_FIX,4726.11,-12249.11,031007,181837
$TT8_MAMPS,0.075933
$HUMID,2180
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.5,41.053
$10V_AH,10.1,26.034
$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,30.150,30.225,185.875,170.750,0.000,60.400,38.456,172.060,0.500,29.050,3560.950,32.124,471.511,1646.117,472.065,489.090,430.132,33.345,747.649,0.000,444.789,0.000,2.488
$DEVICE_MAMPS,197.886,75.166,691.067,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.498,0.000,0.000,0.000,0.000,0.000,0.000,3590.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6443,259
$CFSIZE,260231168,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,161005,4743.060,-12250.938,10,2.9,29,18.3