version: 66.02
glider: 117
mission: 4
dive: 282
start: 10 3 107 19 17 45
data:
$ID,117
$MISSION,4
$DIVE,282
$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,-23362.861
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,190123,4743.523,-12250.729,8,2.5,27,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-56.5
$GPS2,191637,4743.575,-12250.620,16,1.5,32,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,5_EN
$TGT_LATLONG,4744.091,-12250.552
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,0.190
$KALMAN_X,38910.4,-220.7,-98.0,-36005.2,142.9
$KALMAN_Y,22016.9,-163.9,74.6,-14915.7,0.6
$MHEAD_RNG_PITCHd_Wd,331.2,959,-16.6,-7.037
$D_GRID,168
$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,-1.39,-97.8,0.0,0.0,0,120,0.00,0.00,-90.57,0.000,2,0.000,0.000,412,2191,3004
$GC,125,-1.39,-97.8,2.2,-3.5,15,163,13.73,2.62,-18.50,0.000,4,0.199,0.075,2588,804,3603
$GC,414,-1.39,-97.8,27.6,-7.6,52,418,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2203,3605
$GC,609,-1.39,-97.8,42.6,-7.9,67,613,0.00,2.60,0.00,0.000,4,0.000,0.063,2589,801,3605
$GC,662,-1.39,-97.8,46.8,-8.3,70,668,0.00,2.45,0.00,0.000,6,0.000,0.035,2588,2205,3605
$GC,857,-1.39,-97.8,62.5,-8.1,86,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,3605
$GC,1050,-1.39,-97.8,77.4,-8.1,101,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,3606
$GC,1238,-1.39,-97.8,91.9,-7.8,116,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,3606
$STATE,1284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1291,-0.38,0.0,95.8,7.4,120,1372,1.12,0.00,77.57,0.675,6,0.096,0.000,2812,2066,3202
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1375,1.39,97.8,97.9,0.0,127,1456,1.83,0.00,76.45,0.656,6,0.061,0.000,3199,2066,2803
$GC,1645,1.42,118.8,85.1,6.0,149,1670,0.00,2.62,15.98,0.680,4,0.000,0.055,3199,3474,2716
$GC,1751,1.42,118.8,78.0,7.4,157,1755,0.00,2.42,0.00,0.000,6,0.000,0.037,3199,2085,2715
$GC,1946,1.42,118.8,64.0,7.5,172,1950,0.00,2.53,0.00,0.000,4,0.000,0.054,3199,3480,2715
$GC,1984,1.42,118.8,61.0,7.5,174,1991,0.00,2.45,0.00,0.000,6,0.000,0.036,3199,2086,2715
$GC,2182,1.42,119.3,46.9,7.0,190,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2085,2715
$GC,2372,1.43,123.5,34.2,6.8,205,2381,0.00,0.00,3.12,0.762,6,0.000,0.000,3199,2085,2698
$GC,2571,1.44,136.5,20.4,6.4,221,2590,0.00,2.55,9.73,0.688,4,0.000,0.054,3199,3467,2645
$GC,2636,1.44,136.5,15.5,7.9,230,2642,0.00,2.42,0.00,0.000,6,0.000,0.036,3199,2077,2645
$GC,2708,1.47,161.8,11.2,5.8,241,2733,0.00,0.00,19.48,0.653,6,0.000,0.000,3201,2077,2541
$GC,2801,1.54,212.5,6.5,4.6,255,2826,0.15,0.00,22.88,0.633,2,0.047,0.000,3240,2077,2420
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,0.0,1.022738
$STATE,2931,end surface coast,CONTROL_FINISHED_OK
$STATE,2931,begin surface
$SM_CCo,2960,140.60,0.578,0,0,1163,500.17
$SM_GC,0.63,0.00,0.00,140.60,0.000,0.000,0.578,410,2215,1163,-11.45,0.42,500.17
$IRIDIUM_FIX,4722.92,-12339.63,031007,232351
$TT8_MAMPS,0.074399
$HUMID,2175
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,41.413
$10V_AH,10.1,26.338
$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,29.625,25.525,225.200,140.600,0.000,142.320,259.569,175.324,1.250,8.300,4174.700,32.804,496.847,1822.743,473.362,505.374,744.966,33.354,761.610,0.000,457.802,0.000,2.489
$DEVICE_MAMPS,198.653,75.166,761.631,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.717,0.000,0.000,0.000,0.000,0.000,0.000,4183.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6447,275
$CFSIZE,260231168,248946688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031007,201015,4743.820,-12250.685,13,1.6,13,18.3