version: 66.02
glider: 117
mission: 4
dive: 6
start: 9 22 107 3 9 38
data:
$ID,117
$MISSION,4
$DIVE,6
$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,-16492.463
$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,34
$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
$GPS1,025703,4739.233,-12251.677,9,1.7,9,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.4
$GPS2,030832,4739.288,-12251.573,11,1.7,16,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.193
$KALMAN_X,826.6,489.9,195.1,-119.7,51.5
$KALMAN_Y,627.2,341.7,110.4,-2014.5,82.7
$MHEAD_RNG_PITCHd_Wd,204.1,753,-18.4,-10.101
$D_GRID,124
$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,22,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,125,0.00,0.00,-97.12,0.000,2,0.000,0.000,409,2090,2709
$GC,128,-1.59,-146.6,2.0,-4.4,16,184,13.12,2.55,-34.33,0.000,4,0.189,0.067,2547,3495,3802
$GC,402,-1.59,-146.6,28.0,-10.6,53,406,0.00,2.45,0.00,0.000,6,0.000,0.038,2546,2105,3804
$GC,603,-1.59,-146.6,49.5,-11.3,69,607,0.00,2.50,0.00,0.000,4,0.000,0.054,2546,3495,3804
$GC,635,-1.59,-146.6,53.2,-11.5,71,643,0.00,2.45,0.00,0.000,6,0.000,0.037,2547,2102,3804
$GC,831,-1.59,-146.6,73.8,-10.3,87,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2102,3804
$GC,1022,-1.59,-146.6,93.1,-10.0,102,1026,0.00,2.50,0.00,0.000,4,0.000,0.055,2547,3495,3804
$GC,1073,-1.59,-146.6,98.7,-10.6,105,1081,0.00,2.45,0.00,0.000,6,0.000,0.038,2547,2102,3805
$STATE,1091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1091,begin apogee
$GC,1096,-0.38,0.0,100.8,10.3,107,1214,1.35,0.00,113.75,0.662,6,0.102,0.000,2812,1913,3201
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1218,1.59,146.6,104.6,0.0,117,1335,2.05,0.00,111.70,0.638,6,0.064,0.000,3246,1913,2603
$GC,1523,1.62,165.2,83.8,9.2,142,1542,0.00,2.58,13.73,0.663,4,0.000,0.051,3246,3310,2528
$GC,1674,1.62,165.2,68.0,10.5,153,1678,0.00,2.47,0.00,0.000,6,0.000,0.040,3246,1910,2527
$GC,1876,1.63,173.0,47.5,9.7,169,1889,0.00,2.55,5.80,0.700,4,0.000,0.051,3246,3303,2496
$GC,1999,1.63,173.0,34.2,10.7,178,2007,0.00,2.50,0.00,0.000,6,0.000,0.041,3246,1910,2495
$GC,2199,1.63,177.3,14.0,9.9,198,2211,0.00,2.60,2.92,0.737,4,0.000,0.051,3246,3309,2479
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,0.2,1.020763
$STATE,2434,end surface coast,CONTROL_FINISHED_OK
$STATE,2435,begin surface
$SM_CCo,2463,211.52,0.576,0,0,755,600.00
$SM_GC,0.77,0.00,0.00,211.52,0.000,0.000,0.576,410,2092,755,-11.45,-0.23,600.00
$IRIDIUM_FIX,4722.92,-12254.47,220907,070733
$TT8_MAMPS,0.071331
$HUMID,2328
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,83
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,75.0,999.0
$24V_AH,23.8,14.853
$10V_AH,10.1,9.251
$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,29.575,30.075,247.900,211.525,0.000,101.016,66.591,275.716,21.250,0.000,3469.000,16.701,420.487,1377.516,591.163,434.553,568.869,33.320,853.713,0.000,411.209,0.000,4.101
$DEVICE_MAMPS,188.682,67.496,737.087,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.288,0.000,0.000,0.000,0.000,0.000,0.000,3469.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,234
$CFSIZE,260231168,257351680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,035457,4739.175,-12251.626,10,1.4,10,18.3