version: 66.02
glider: 117
mission: 4
dive: 7
start: 9 22 107 4 4 49
data:
$ID,117
$MISSION,4
$DIVE,7
$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,-16524.984
$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,23
$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
$GPS1,035457,4739.175,-12251.626,10,1.4,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-59.0
$GPS2,040344,4739.221,-12251.538,15,1.4,31,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.205,-0.163
$KALMAN_X,1115.4,572.6,161.1,-411.7,86.3
$KALMAN_Y,813.5,394.5,103.2,-2366.6,95.3
$MHEAD_RNG_PITCHd_Wd,213.2,707,-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,23,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,125,0.00,0.00,-97.05,0.000,2,0.000,0.000,410,2091,2742
$GC,128,-1.59,-146.6,2.2,-4.9,16,184,13.10,2.58,-32.55,0.000,4,0.189,0.067,2544,3489,3803
$GC,433,-1.59,-146.6,34.3,-11.5,54,441,0.00,2.45,0.00,0.000,6,0.000,0.036,2544,2098,3805
$GC,630,-1.59,-146.6,55.3,-10.6,70,634,0.00,2.50,0.00,0.000,4,0.000,0.054,2544,3495,3805
$GC,727,-1.59,-146.6,66.4,-10.9,77,735,0.00,2.45,0.00,0.000,6,0.000,0.036,2544,2102,3805
$GC,924,-1.59,-146.6,86.7,-10.0,93,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2101,3805
$STATE,1061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1061,begin apogee
$GC,1066,-0.38,0.0,101.2,10.4,104,1184,1.38,0.00,114.03,0.661,6,0.101,0.000,2815,1911,3202
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1188,1.59,146.6,104.8,0.0,114,1311,2.00,2.78,111.25,0.637,4,0.064,0.081,3251,512,2604
$GC,1350,1.60,154.9,96.4,9.7,127,1363,0.00,2.50,6.15,0.683,6,0.000,0.042,3251,1909,2569
$GC,1551,1.61,162.4,76.6,9.8,143,1564,0.00,2.55,5.47,0.696,4,0.000,0.052,3250,3303,2538
$GC,1683,1.61,163.5,63.3,10.1,153,1687,0.00,2.45,0.00,0.000,6,0.000,0.041,3251,1914,2538
$GC,1885,1.63,177.3,43.6,9.5,169,1901,0.00,2.58,11.15,0.664,4,0.000,0.051,3251,3296,2479
$GC,2028,1.63,178.6,28.9,10.0,180,2033,0.00,2.47,0.00,0.000,6,0.000,0.041,3251,1903,2478
$GC,2229,1.70,235.4,10.3,7.5,203,2279,0.00,2.60,43.80,0.618,4,0.000,0.051,3251,3309,2241
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,0.1,1.020561
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2411,178.40,0.567,0,0,755,600.00
$SM_GC,0.91,0.00,0.00,178.40,0.000,0.000,0.567,410,2092,755,-11.45,-0.23,600.00
$IRIDIUM_FIX,4722.92,-12251.79,220907,070702
$TT8_MAMPS,0.071331
$HUMID,2326
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,48
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,76.3,999.0
$24V_AH,23.8,14.959
$10V_AH,10.1,9.321
$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,29.525,30.400,291.850,178.400,0.000,62.975,41.991,221.473,12.500,0.000,3261.000,31.891,399.695,1257.503,575.457,465.775,446.638,33.324,856.699,0.000,423.774,0.000,4.116
$DEVICE_MAMPS,188.682,81.302,696.436,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.403,0.000,0.000,0.000,0.000,0.000,0.000,3261.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,227
$CFSIZE,260231168,257323008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,044905,4739.154,-12251.685,11,9.5,30,18.3