version: 66.02
glider: 117
mission: 4
dive: 276
start: 10 3 107 13 26 5
data:
$ID,117
$MISSION,4
$DIVE,276
$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,-23197.662
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,131329,4742.383,-12251.119,13,2.1,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.5
$GPS2,132459,4742.377,-12251.190,14,2.2,33,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.104,0.095
$KALMAN_X,38748.9,-203.9,123.4,-36789.4,-131.4
$KALMAN_Y,21949.9,-230.7,3.9,-16929.8,-13.8
$MHEAD_RNG_PITCHd_Wd,29.4,284,-23.8,-7.037
$D_GRID,141
$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,-1.89,-49.4,0.0,0.0,0,115,0.00,0.00,-84.55,0.000,2,0.000,0.000,409,2184,2884
$GC,118,-1.94,-90.3,2.1,-3.1,14,162,13.00,2.62,-24.75,0.000,4,0.198,0.068,2470,3595,3573
$GC,412,-1.94,-90.3,36.5,-12.4,49,419,0.00,2.45,0.00,0.000,6,0.000,0.035,2470,2204,3575
$GC,609,-1.94,-90.3,58.5,-11.5,65,613,0.00,2.50,0.00,0.000,4,0.000,0.056,2470,3593,3575
$GC,686,-1.94,-90.3,68.2,-12.1,70,693,0.00,2.42,0.00,0.000,6,0.000,0.035,2470,2206,3575
$GC,883,-1.94,-90.3,90.9,-11.3,86,887,0.00,2.60,0.00,0.000,4,0.000,0.067,2470,802,3575
$GC,915,-1.94,-90.3,94.7,-12.0,88,919,0.00,2.20,0.00,0.000,3,0.000,0.037,2470,2070,3576
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,926,-0.38,0.0,95.4,11.7,88,1004,1.73,0.00,72.20,0.673,6,0.111,0.000,2811,2073,3202
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1008,1.94,90.3,98.4,0.0,95,1090,2.40,2.67,71.28,0.650,4,0.060,0.065,3327,684,2832
$GC,1118,1.94,93.9,94.0,6.7,104,1130,0.00,2.47,2.30,0.759,6,0.000,0.035,3327,2083,2819
$GC,1319,1.94,93.9,75.9,9.3,120,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2083,2818
$GC,1510,1.94,93.9,58.6,9.0,135,1514,0.00,2.53,0.00,0.000,4,0.000,0.058,3327,3478,2817
$GC,1569,1.94,93.9,52.9,10.0,139,1573,0.00,2.42,0.00,0.000,6,0.000,0.036,3327,2082,2818
$GC,1764,1.94,93.9,35.9,8.5,154,1768,0.00,2.50,0.00,0.000,4,0.000,0.054,3327,3473,2818
$GC,1876,1.94,93.9,25.8,8.5,162,1881,0.00,2.40,0.00,0.000,6,0.000,0.036,3327,2079,2818
$GC,2078,1.98,121.5,11.3,4.4,186,2108,0.00,2.60,20.95,0.649,4,0.000,0.054,3327,3474,2705
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$FINISH,0.0,1.022792
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2342,175.68,0.577,0,0,1164,500.17
$SM_GC,0.76,0.00,0.00,175.68,0.000,0.000,0.577,412,2190,1164,-11.44,-0.31,500.17
$IRIDIUM_FIX,4722.92,-12249.11,031007,171759
$TT8_MAMPS,0.072098
$HUMID,2157
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.4,40.873
$10V_AH,10.1,25.884
$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,30.475,34.625,166.725,175.675,0.000,99.070,74.032,230.350,0.250,16.600,3313.400,34.178,417.235,1342.409,464.299,446.406,564.871,33.346,721.659,0.000,402.076,0.000,2.489
$DEVICE_MAMPS,197.886,68.263,759.330,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.005,0.000,0.000,0.000,0.000,0.000,0.000,3330.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6454,222
$CFSIZE,260231168,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,140907,4742.502,-12250.993,12,1.8,28,18.3