version: 66.02
glider: 117
mission: 4
dive: 272
start: 10 3 107 9 19 59
data:
$ID,117
$MISSION,4
$DIVE,272
$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,-23090.285
$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,41
$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
$GPS1,091059,4741.654,-12251.468,11,2.4,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.1
$GPS2,091853,4741.620,-12251.475,33,2.4,52,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,9_XN
$TGT_LATLONG,4741.982,-12251.243
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,0.188
$KALMAN_X,39201.7,44.8,-120.0,-37600.1,48.4
$KALMAN_Y,22252.0,28.3,-171.1,-18717.3,-122.9
$MHEAD_RNG_PITCHd_Wd,354.6,730,-16.6,-7.037
$D_GRID,130
$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,-1.39,-97.8,0.0,0.0,0,113,0.00,0.00,-82.90,0.000,2,0.000,0.000,409,2216,2871
$GC,116,-1.39,-97.8,2.0,-3.4,14,165,13.75,2.53,-26.88,0.000,4,0.196,0.071,2593,3582,3603
$GC,319,-1.39,-97.8,18.9,-8.9,45,325,0.00,2.40,0.00,0.000,6,0.000,0.035,2593,2197,3605
$GC,395,-1.39,-97.8,24.3,-7.0,52,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,3605
$GC,585,-1.39,-97.8,38.4,-7.6,67,590,0.00,2.53,0.00,0.000,4,0.000,0.057,2595,3588,3605
$GC,623,-1.39,-97.8,41.6,-8.2,69,630,0.00,2.42,0.00,0.000,6,0.000,0.035,2593,2201,3605
$GC,820,-1.39,-97.8,57.3,-8.3,85,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,3605
$GC,1011,-1.39,-97.8,73.0,-8.1,100,1015,0.00,2.60,0.00,0.000,4,0.000,0.067,2593,804,3605
$GC,1049,-1.39,-97.8,76.5,-8.8,102,1056,0.00,2.42,0.00,0.000,6,0.000,0.035,2593,2195,3605
$GC,1245,-1.39,-97.8,92.0,-7.7,118,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2194,3605
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1300,-0.38,0.0,95.9,7.6,122,1381,1.10,0.00,77.80,0.675,6,0.095,0.000,2811,2069,3202
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1385,1.39,97.8,98.1,0.0,129,1465,1.83,0.00,76.15,0.653,6,0.061,0.000,3199,2069,2803
$GC,1654,1.43,124.0,85.4,5.8,151,1679,0.00,2.65,20.05,0.670,4,0.000,0.055,3199,3475,2696
$GC,1711,1.44,130.7,81.4,6.7,155,1722,0.00,2.45,5.03,0.713,6,0.000,0.035,3199,2093,2668
$GC,1920,1.44,130.7,66.1,7.7,172,1924,0.00,2.53,0.00,0.000,4,0.000,0.054,3199,3479,2667
$GC,1958,1.44,130.7,63.1,7.8,174,1965,0.00,2.47,0.00,0.000,6,0.000,0.035,3199,2076,2667
$GC,2155,1.44,130.7,48.3,7.6,190,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2076,2667
$GC,2348,1.44,130.7,34.4,7.1,205,2352,0.00,2.55,0.00,0.000,4,0.000,0.054,3199,3481,2666
$GC,2465,1.44,130.7,25.2,7.9,213,2472,0.00,2.47,0.00,0.000,6,0.000,0.036,3201,2079,2666
$GC,2667,1.50,183.8,12.0,4.5,238,2717,0.12,2.58,40.72,0.634,4,0.052,0.054,3232,3476,2452
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,1.1,1.022840
$STATE,2836,end surface coast,CONTROL_FINISHED_OK
$STATE,2837,begin surface
$SM_CCo,2865,145.18,0.582,0,0,1163,500.17
$SM_GC,0.81,0.00,0.00,145.18,0.000,0.000,0.582,410,2187,1163,-11.45,-0.37,500.17
$IRIDIUM_FIX,4722.92,-12253.53,031007,121201
$TT8_MAMPS,0.072098
$HUMID,2177
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.5,40.505
$10V_AH,10.1,25.585
$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,29.775,35.025,219.750,145.175,0.000,61.443,33.889,144.022,0.250,24.900,3587.100,53.119,477.005,1647.908,478.129,512.058,395.793,33.345,765.616,0.000,446.891,0.000,2.490
$DEVICE_MAMPS,196.352,70.564,712.543,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.064,0.000,0.000,0.000,0.000,0.000,0.000,3612.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6451,264
$CFSIZE,260231168,249253888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,101125,4741.823,-12251.404,39,1.1,39,18.3