version: 66.02
glider: 117
mission: 4
dive: 5
start: 9 22 107 2 12 21
data:
$ID,117
$MISSION,4
$DIVE,5
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$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,150
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16475.135
$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,2100
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,33
$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,10
$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
$GPS1,020256,4739.330,-12251.867,44,1.3,44,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-58.2
$GPS2,021115,4739.364,-12251.821,13,1.4,13,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,-0.243
$KALMAN_X,530.9,351.3,215.9,-9.9,40.6
$KALMAN_Y,393.1,263.3,139.3,-1590.2,24.0
$MHEAD_RNG_PITCHd_Wd,183.4,710,-18.4,-10.101
$D_GRID,123
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,131,0.00,0.00,-103.10,0.000,2,0.000,0.000,414,2092,2851
$GC,135,-1.59,-146.6,2.2,-4.5,17,184,13.12,2.70,-30.08,0.000,4,0.191,0.092,2545,701,3800
$GC,435,-1.59,-146.6,33.2,-9.9,54,440,0.00,2.47,0.00,0.000,6,0.000,0.041,2545,2099,3802
$GC,630,-1.59,-146.6,53.6,-10.4,69,634,0.00,2.53,0.00,0.000,4,0.000,0.058,2545,3502,3802
$GC,662,-1.59,-146.6,57.0,-10.8,71,669,0.00,2.47,0.00,0.000,6,0.000,0.039,2545,2102,3802
$GC,858,-1.59,-146.6,77.6,-10.8,87,862,0.00,2.53,0.00,0.000,4,0.000,0.056,2544,3498,3803
$GC,890,-1.59,-146.6,81.1,-11.4,89,897,0.00,2.47,0.00,0.000,6,0.000,0.040,2544,2102,3802
$STATE,1073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1073,begin apogee
$GC,1078,-0.38,0.0,100.0,10.5,104,1196,1.38,0.00,113.75,0.670,6,0.103,0.000,2814,1913,3202
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,1.59,146.6,103.7,0.0,114,1324,2.00,2.83,111.20,0.644,4,0.071,0.086,3252,506,2603
$GC,1363,1.61,157.3,95.7,9.6,127,1376,0.00,2.53,7.93,0.680,6,0.000,0.044,3252,1913,2560
$GC,1564,1.61,163.6,76.1,9.8,143,1577,0.00,2.58,4.38,0.713,4,0.000,0.053,3251,3302,2535
$GC,1695,1.61,163.6,62.3,11.0,153,1700,0.00,2.50,0.00,0.000,6,0.000,0.043,3252,1914,2535
$GC,1898,1.62,170.1,42.3,9.8,169,1911,0.00,2.58,4.88,0.711,4,0.000,0.052,3251,3304,2508
$GC,2017,1.62,170.1,29.1,11.7,178,2021,0.00,2.50,0.00,0.000,6,0.000,0.043,3252,1904,2508
$GC,2217,1.64,181.2,8.7,9.6,201,2230,0.00,2.60,8.10,0.683,4,0.000,0.052,3252,3305,2463
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,0.1,1.020611
$STATE,2402,end surface coast,CONTROL_FINISHED_OK
$STATE,2402,begin surface
$SM_CCo,2429,208.93,0.575,0,0,755,600.00
$SM_GC,0.79,0.00,0.00,208.93,0.000,0.000,0.575,409,2090,755,-11.46,-0.28,600.00
$IRIDIUM_FIX,4719.74,-12251.79,220907,050515
$TT8_MAMPS,0.072098
$HUMID,2343
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,142
$ALTIM_TOP_PING,9.9,9.5
$ALTIM_BOTTOM_PING,76.3,999.0
$24V_AH,23.5,14.741
$10V_AH,10.1,9.177
$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,29.550,35.750,250.225,208.925,0.000,62.139,44.124,210.617,36.000,0.000,3267.000,13.587,413.809,1286.110,580.486,445.785,439.815,33.318,856.814,0.000,422.171,0.000,4.101
$DEVICE_MAMPS,190.983,92.040,712.543,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.103,0.000,0.000,0.000,0.000,0.000,0.000,3267.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,229
$CFSIZE,260231168,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,025703,4739.233,-12251.677,9,1.7,9,18.3