version: 66.02
glider: 117
mission: 4
dive: 270
start: 10 3 107 7 12 51
data:
$ID,117
$MISSION,4
$DIVE,270
$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,-23002.928
$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,32
$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
$GPS1,070439,4741.392,-12251.362,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.7
$GPS2,071144,4741.351,-12251.366,11,1.3,16,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,9_XN
$TGT_LATLONG,4741.982,-12251.243
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,0.192
$KALMAN_X,39286.2,166.7,-270.9,-37524.1,102.2
$KALMAN_Y,22582.5,179.7,-132.5,-19733.0,-122.1
$MHEAD_RNG_PITCHd_Wd,336.3,1178,-16.6,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.39,-97.8,0.0,0.0,0,114,0.00,0.00,-82.97,0.000,2,0.000,0.000,409,2200,2862
$GC,117,-1.39,-97.8,2.0,-3.4,14,167,13.65,2.55,-29.23,0.000,4,0.193,0.070,2593,3596,3602
$GC,252,-1.39,-97.8,11.9,-11.1,35,259,0.00,2.42,0.00,0.000,6,0.000,0.035,2593,2200,3604
$GC,325,-1.39,-97.8,19.7,-10.9,46,331,0.00,2.58,0.00,0.000,4,0.000,0.064,2593,801,3604
$GC,390,-1.39,-97.8,25.6,-8.0,52,394,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2201,3604
$GC,585,-1.39,-97.8,41.4,-7.6,67,590,0.00,2.53,0.00,0.000,4,0.000,0.058,2593,3597,3604
$GC,631,-1.39,-97.8,45.1,-8.0,70,636,0.00,2.42,0.00,0.000,6,0.000,0.035,2593,2192,3604
$GC,827,-1.39,-97.8,60.1,-8.2,85,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2192,3605
$GC,1019,-1.39,-97.8,75.1,-7.9,100,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2192,3604
$GC,1207,-1.39,-97.8,89.6,-7.3,115,1211,0.00,2.55,0.00,0.000,4,0.000,0.057,2593,3596,3604
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1278,-0.38,0.0,95.4,8.4,119,1359,1.08,0.00,77.70,0.673,6,0.098,0.000,2808,2084,3202
$STATE,1360,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1363,1.39,97.8,97.8,0.0,126,1447,1.83,2.70,76.32,0.657,4,0.063,0.066,3201,680,2802
$GC,1507,1.39,97.8,92.1,7.3,137,1513,0.00,2.47,0.00,0.000,6,0.000,0.035,3201,2082,2801
$GC,1703,1.40,102.9,79.1,6.8,153,1715,0.00,2.58,3.70,0.749,4,0.000,0.058,3201,3469,2782
$GC,1968,1.42,119.4,61.4,6.2,173,1985,0.00,2.42,12.30,0.688,6,0.000,0.036,3201,2078,2716
$GC,2175,1.42,119.4,46.5,7.1,189,2180,0.00,2.53,0.00,0.000,4,0.000,0.054,3202,3475,2714
$GC,2215,1.42,119.4,43.4,8.0,191,2221,0.00,2.42,0.00,0.000,6,0.000,0.036,3201,2078,2714
$GC,2411,1.42,120.2,28.8,7.0,207,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2078,2714
$GC,2602,1.46,146.7,16.6,5.8,226,2632,0.00,2.62,20.75,0.657,4,0.000,0.055,3201,3478,2603
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.1,1.023003
$STATE,2929,end surface coast,CONTROL_FINISHED_OK
$STATE,2929,begin surface
$SM_CCo,2957,161.85,0.581,0,0,1162,500.41
$SM_GC,0.76,0.00,0.00,161.85,0.000,0.000,0.581,410,2188,1162,-11.45,-0.34,500.41
$IRIDIUM_FIX,4726.11,-12249.11,031007,101058
$TT8_MAMPS,0.071331
$HUMID,2175
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,40.320
$10V_AH,10.1,25.427
$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,29.375,40.150,190.775,161.850,0.000,64.174,31.347,134.126,0.750,24.900,3634.100,16.507,512.593,1677.626,478.860,516.892,386.668,33.347,775.522,0.000,487.129,0.000,2.490
$DEVICE_MAMPS,193.284,69.797,748.592,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.497,0.000,0.000,0.000,0.000,0.000,0.000,3659.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6441,276
$CFSIZE,260231168,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,080559,4741.504,-12251.418,13,3.9,32,18.3