version: 66.02
glider: 117
mission: 4
dive: 269
start: 10 3 107 6 19 4
data:
$ID,117
$MISSION,4
$DIVE,269
$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,-22985.793
$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,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
$GPS1,061025,4741.374,-12251.307,24,0.9,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-58.1
$GPS2,061757,4741.353,-12251.288,14,1.7,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.086
$KALMAN_X,39121.7,209.3,-279.9,-37297.7,61.2
$KALMAN_Y,22737.1,217.9,-110.8,-19945.2,-28.8
$MHEAD_RNG_PITCHd_Wd,296.5,245,-27.4,-7.037
$D_GRID,115
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-2.16,-37.3,0.0,0.0,0,114,0.00,0.00,-82.95,0.000,2,0.000,0.000,405,2212,2850
$GC,117,-2.19,-65.9,2.1,-3.4,14,160,12.70,2.50,-23.10,0.000,4,0.199,0.069,2413,3587,3472
$GC,397,-2.19,-65.9,38.6,-12.1,46,404,0.00,2.42,0.00,0.000,6,0.000,0.035,2413,2201,3475
$GC,594,-2.19,-65.9,62.0,-12.3,62,598,0.00,2.53,0.00,0.000,4,0.000,0.055,2412,3590,3475
$GC,692,-2.19,-65.9,74.5,-12.8,69,697,0.00,2.40,0.00,0.000,6,0.000,0.035,2413,2202,3475
$STATE,875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,875,begin apogee
$GC,881,-0.38,0.0,96.4,11.7,83,938,2.05,0.00,52.97,0.680,6,0.120,0.000,2810,2072,3202
$STATE,939,end apogee,CONTROL_FINISHED_OK
$STATE,939,begin climb
$GC,942,2.19,65.9,99.0,0.0,88,1003,2.60,2.65,51.78,0.668,4,0.056,0.064,3382,688,2932
$GC,1109,2.19,65.9,89.4,7.8,101,1114,0.00,2.42,0.00,0.000,6,0.000,0.035,3381,2078,2931
$GC,1305,2.19,67.6,76.0,6.8,116,1309,0.00,2.55,0.00,0.000,4,0.000,0.060,3382,3476,2930
$GC,1563,2.21,79.6,58.7,5.5,135,1579,0.00,2.42,10.32,0.703,6,0.000,0.035,3382,2081,2877
$GC,1777,2.21,79.6,41.6,8.8,152,1781,0.00,2.53,0.00,0.000,4,0.000,0.054,3382,3476,2875
$GC,2035,2.21,81.2,20.3,6.8,171,2039,0.00,2.42,0.00,0.000,6,0.000,0.036,3382,2080,2876
$GC,2241,2.29,144.5,16.8,-0.9,201,2297,0.00,2.72,49.55,0.634,4,0.000,0.065,3381,683,2612
$STATE,2435,end climb,SURFACE_DEPTH_REACHED
$STATE,2435,begin surface coast
$FINISH,0.1,1.023058
$STATE,2494,end surface coast,CONTROL_FINISHED_OK
$STATE,2494,begin surface
$SM_CCo,2525,161.98,0.576,0,0,1162,500.17
$SM_GC,0.80,0.00,0.00,161.98,0.000,0.000,0.576,409,2200,1162,-11.46,0.00,500.17
$IRIDIUM_FIX,4722.92,-12253.53,031007,090935
$TT8_MAMPS,0.069797
$HUMID,2156
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.6,40.232
$10V_AH,10.1,25.352
$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,30.950,30.450,164.625,161.975,0.000,64.045,38.118,155.019,0.250,20.750,3251.250,14.904,452.364,1379.019,428.109,504.777,403.261,33.339,711.038,0.000,475.479,0.000,2.488
$DEVICE_MAMPS,199.420,69.030,703.339,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.846,0.000,0.000,0.000,0.000,0.000,0.000,3272.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6474,240
$CFSIZE,260231168,249352192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,070439,4741.392,-12251.362,12,1.9,12,18.3