version: 66.02
glider: 117
mission: 4
dive: 281
start: 10 3 107 18 15 5
data:
$ID,117
$MISSION,4
$DIVE,281
$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,-23329.43
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,180532,4743.478,-12250.596,9,1.3,9,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-56.4
$GPS2,181359,4743.521,-12250.544,12,3.2,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.023
$KALMAN_X,38725.6,-259.7,-83.8,-35701.2,37.2
$KALMAN_Y,22009.5,-215.0,97.5,-14979.6,26.7
$MHEAD_RNG_PITCHd_Wd,262.7,239,-27.4,-7.037
$D_GRID,167
$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,23,begin dive
$GC,26,-2.16,-37.3,0.0,0.0,0,120,0.00,0.00,-90.62,0.000,2,0.000,0.000,409,2203,3013
$GC,125,-2.19,-61.7,2.3,-4.0,15,161,12.88,2.67,-13.75,0.000,4,0.202,0.074,2414,799,3456
$GC,254,-2.19,-61.7,18.7,-13.7,35,260,0.00,2.45,0.00,0.000,6,0.000,0.037,2414,2199,3458
$GC,329,-2.19,-61.7,27.6,-11.5,42,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2198,3458
$GC,522,-2.19,-61.7,49.8,-11.7,57,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2198,3458
$GC,710,-2.19,-61.7,70.9,-11.2,72,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2199,3458
$GC,899,-2.19,-61.7,92.9,-11.9,87,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2199,3458
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,926,-0.38,0.0,95.8,11.4,89,983,2.10,0.00,49.45,0.684,6,0.119,0.000,2814,2071,3202
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,987,2.19,61.7,98.0,0.0,94,1043,2.62,0.00,48.80,0.664,6,0.058,0.000,3377,2071,2949
$GC,1232,2.19,61.7,83.2,7.4,114,1236,0.00,2.55,0.00,0.000,4,0.000,0.058,3376,3474,2948
$GC,1337,2.19,61.7,75.1,7.8,121,1343,0.00,2.42,0.00,0.000,6,0.000,0.036,3376,2081,2947
$GC,1533,2.19,61.7,60.4,7.6,137,1537,0.00,2.53,0.00,0.000,4,0.000,0.054,3377,3475,2947
$GC,1611,2.19,61.7,54.2,7.8,142,1618,0.00,2.42,0.00,0.000,6,0.000,0.035,3376,2078,2947
$GC,1807,2.19,67.1,40.2,6.4,158,1820,0.00,2.65,3.35,0.758,4,0.000,0.065,3376,688,2928
$GC,1852,2.19,69.4,37.2,6.7,161,1859,0.00,2.45,1.90,0.794,6,0.000,0.035,3376,2088,2918
$GC,2048,2.19,69.4,23.0,7.4,177,2052,0.00,2.53,0.00,0.000,4,0.000,0.059,3377,3478,2919
$GC,2088,2.19,69.4,20.1,7.3,179,2094,0.00,2.42,0.00,0.000,6,0.000,0.035,3376,2076,2917
$GC,2294,2.26,122.7,13.3,0.3,210,2343,0.00,2.58,40.95,0.639,4,0.000,0.054,3376,3476,2700
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2482,begin surface coast
$FINISH,3.0,1.022541
$STATE,2507,end surface coast,CONTROL_FINISHED_OK
$STATE,2507,begin surface
$SM_CCo,2538,174.80,0.578,0,0,1163,500.17
$SM_GC,0.78,0.00,0.00,174.80,0.000,0.000,0.578,412,2191,1163,-11.44,-0.25,500.17
$IRIDIUM_FIX,4713.38,-12625.36,031007,212144
$TT8_MAMPS,0.071331
$HUMID,2162
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.7,41.312
$10V_AH,10.1,26.250
$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,31.975,30.100,144.450,174.800,0.000,61.362,48.742,177.120,0.750,24.900,3287.100,32.656,448.788,1451.149,450.510,447.317,449.232,33.350,703.373,0.000,403.916,0.000,4.158
$DEVICE_MAMPS,202.488,74.399,793.845,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.902,0.000,0.000,0.000,0.000,0.000,0.000,3312.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6451,243
$CFSIZE,260231168,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031007,190123,4743.523,-12250.729,8,2.5,27,18.3