version: 66.02
glider: 117
mission: 4
dive: 280
start: 10 3 107 17 19 16
data:
$ID,117
$MISSION,4
$DIVE,280
$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,-23296.146
$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,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
$GPS1,170950,4743.354,-12250.852,9,1.7,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-55.8
$GPS2,171809,4743.399,-12250.825,12,1.5,12,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,0.099
$KALMAN_X,38580.1,-287.1,-42.2,-35916.4,-53.9
$KALMAN_Y,22062.6,-250.8,108.6,-15236.4,56.2
$MHEAD_RNG_PITCHd_Wd,17.3,329,-27.4,-7.037
$D_GRID,166
$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,-37.3,0.0,0.0,0,116,0.00,0.00,-84.93,0.000,2,0.000,0.000,411,2215,2887
$GC,119,-2.19,-67.0,2.0,-3.3,14,162,12.75,2.53,-21.25,0.000,4,0.201,0.069,2415,3587,3479
$GC,412,-2.19,-67.0,37.4,-12.3,48,419,0.00,2.42,0.00,0.000,6,0.000,0.035,2415,2200,3480
$GC,608,-2.19,-67.0,61.1,-12.5,64,613,0.00,2.53,0.00,0.000,4,0.000,0.054,2415,3593,3480
$GC,866,-2.19,-67.0,94.8,-13.6,83,870,0.00,2.15,0.00,0.000,3,0.000,0.034,2415,2334,3480
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,877,-0.38,0.0,95.4,12.8,83,936,2.05,0.00,54.15,0.677,6,0.121,0.000,2811,2071,3202
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,940,2.19,67.0,98.5,0.0,88,1002,2.62,2.65,52.83,0.663,4,0.059,0.064,3378,686,2928
$GC,1100,2.19,67.0,90.4,7.2,100,1107,0.00,2.45,0.00,0.000,6,0.000,0.035,3378,2064,2925
$GC,1296,2.19,67.0,76.4,7.2,116,1301,0.00,2.58,0.00,0.000,4,0.000,0.059,3378,3478,2925
$GC,1494,2.19,68.9,61.9,6.8,130,1500,0.00,2.42,0.00,0.000,6,0.000,0.036,3378,2083,2925
$GC,1690,2.20,72.8,48.8,6.6,146,1695,0.00,0.00,3.60,0.759,6,0.000,0.000,3378,2083,2905
$GC,1878,2.20,72.8,35.1,7.4,161,1883,0.00,2.53,0.00,0.000,4,0.000,0.054,3378,3473,2905
$GC,2103,2.20,74.0,19.4,6.9,178,2109,0.00,2.42,0.00,0.000,6,0.000,0.036,3378,2076,2905
$GC,2176,2.21,79.6,14.6,6.3,189,2189,0.00,2.65,5.28,0.724,4,0.000,0.064,3378,682,2878
$GC,2257,2.25,115.0,11.8,2.6,201,2294,0.00,2.47,27.33,0.645,6,0.000,0.035,3378,2089,2733
$GC,2360,2.28,137.4,8.7,4.2,217,2384,0.00,2.67,16.73,0.649,4,0.000,0.064,3378,682,2641
$GC,2404,2.29,150.0,6.3,5.4,224,2423,0.00,2.47,9.88,0.659,6,0.000,0.035,3378,2074,2589
$STATE,2434,end climb,SURFACE_DEPTH_REACHED
$STATE,2434,begin surface coast
$FINISH,0.1,1.022490
$STATE,2541,end surface coast,CONTROL_FINISHED_OK
$STATE,2541,begin surface
$SM_CCo,2570,160.07,0.578,0,0,1163,500.17
$SM_GC,0.76,0.00,0.00,160.07,0.000,0.000,0.578,408,2203,1163,-11.46,0.06,500.17
$IRIDIUM_FIX,4726.11,-12255.26,031007,202040
$TT8_MAMPS,0.072098
$HUMID,2179
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.6,41.227
$10V_AH,10.1,26.180
$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,31.075,35.550,169.775,160.075,0.000,63.874,49.616,183.816,0.250,33.200,3294.800,12.414,460.110,1372.546,453.525,511.128,459.868,33.344,749.531,0.000,484.340,0.000,2.491
$DEVICE_MAMPS,200.954,69.030,758.563,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.257,0.000,0.000,0.000,0.000,0.000,0.000,3328.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6434,245
$CFSIZE,260231168,249012224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,180532,4743.478,-12250.596,9,1.3,9,18.3