version: 66.02
glider: 117
mission: 4
dive: 268
start: 10 3 107 5 26 38
data:
$ID,117
$MISSION,4
$DIVE,268
$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,-22970.26
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,051803,4741.227,-12251.266,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-58.8
$GPS2,052532,4741.243,-12251.261,13,2.0,30,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,0.145
$KALMAN_X,38931.8,268.8,-200.9,-37213.2,-86.1
$KALMAN_Y,22810.0,258.5,-61.4,-20315.3,1.8
$MHEAD_RNG_PITCHd_Wd,327.2,436,-22.3,-7.037
$D_GRID,112
$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,-1.78,-55.9,0.0,0.0,0,114,0.00,0.00,-84.85,0.000,2,0.000,0.000,406,2217,2891
$GC,118,-1.83,-92.0,2.3,-4.0,14,161,13.23,2.50,-22.75,0.000,4,0.200,0.069,2493,3591,3578
$GC,379,-1.83,-92.0,33.7,-11.5,46,383,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2198,3580
$GC,581,-1.83,-92.0,56.0,-11.1,62,585,0.00,2.60,0.00,0.000,4,0.000,0.066,2493,802,3581
$GC,606,-1.83,-92.0,58.9,-11.3,63,613,0.00,2.45,0.00,0.000,6,0.000,0.036,2493,2185,3581
$GC,802,-1.83,-92.0,79.1,-9.6,79,807,0.00,2.55,0.00,0.000,4,0.000,0.058,2493,3600,3581
$GC,920,-1.83,-92.0,91.7,-11.1,87,927,0.00,2.45,0.00,0.000,6,0.000,0.035,2493,2201,3580
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,957,-0.38,0.0,95.1,10.9,90,1037,1.65,0.00,73.62,0.670,6,0.110,0.000,2811,2073,3201
$STATE,1038,end apogee,CONTROL_FINISHED_OK
$STATE,1038,begin climb
$GC,1041,1.83,92.0,97.7,0.0,97,1121,2.28,0.00,72.38,0.651,6,0.061,0.000,3300,2073,2825
$GC,1311,1.83,92.0,79.2,9.0,119,1315,0.00,2.55,0.00,0.000,4,0.000,0.054,3300,3478,2824
$GC,1568,1.83,92.0,56.9,8.7,138,1573,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2089,2823
$GC,1763,1.83,92.0,40.0,8.8,153,1768,0.00,2.53,0.00,0.000,4,0.000,0.054,3300,3479,2823
$GC,2021,1.83,92.0,17.9,8.3,173,2027,0.00,2.45,0.00,0.000,6,0.000,0.036,3300,2073,2823
$GC,2094,1.88,134.3,14.7,3.5,184,2130,0.00,0.00,31.77,0.639,6,0.000,0.000,3300,2072,2654
$GC,2196,1.91,160.0,10.8,4.9,200,2221,0.00,2.65,19.62,0.639,4,0.000,0.054,3300,3478,2549
$GC,2254,1.91,160.0,6.9,7.2,209,2261,0.00,2.47,0.00,0.000,6,0.000,0.035,3300,2073,2547
$STATE,2284,end climb,SURFACE_DEPTH_REACHED
$STATE,2285,begin surface coast
$FINISH,0.0,1.022931
$STATE,2367,end surface coast,CONTROL_FINISHED_OK
$STATE,2367,begin surface
$SM_CCo,2396,154.62,0.574,0,0,1163,500.17
$SM_GC,0.85,0.00,0.00,154.62,0.000,0.000,0.574,405,2212,1163,-11.48,0.34,500.17
$IRIDIUM_FIX,4722.92,-12249.11,031007,080857
$TT8_MAMPS,0.072865
$HUMID,2150
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.6,40.149
$10V_AH,10.1,25.282
$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,30.200,30.400,197.400,154.625,0.000,61.520,33.330,143.515,0.250,20.750,3071.250,30.749,421.725,1275.178,468.440,475.305,384.764,33.337,738.275,0.000,433.959,0.000,2.487
$DEVICE_MAMPS,200.187,69.030,670.358,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.028,0.000,0.000,0.000,0.000,0.000,0.000,3092.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6451,226
$CFSIZE,260231168,249384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,061025,4741.374,-12251.307,24,0.9,41,18.3