version: 66.02
glider: 117
mission: 4
dive: 11
start: 9 22 107 7 55 42
data:
$ID,117
$MISSION,4
$DIVE,11
$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,-16653.934
$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,20
$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
$GPS1,074523,4739.146,-12251.668,12,2.4,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.3
$GPS2,075437,4739.220,-12251.565,38,1.1,47,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.158
$KALMAN_X,2237.7,706.2,195.4,-1736.4,69.6
$KALMAN_Y,1748.1,538.1,187.0,-3533.1,55.7
$MHEAD_RNG_PITCHd_Wd,214.5,678,-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,-96.97,0.000,2,0.000,0.000,407,2092,2754
$GC,128,-1.59,-146.6,2.3,-5.4,16,183,13.20,2.70,-31.52,0.000,4,0.191,0.079,2546,696,3803
$GC,222,-1.59,-146.6,9.4,-9.4,31,229,0.00,2.47,0.00,0.000,6,0.000,0.037,2546,2101,3803
$GC,295,-1.59,-146.6,15.5,-8.6,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2101,3803
$GC,372,-1.59,-146.6,22.4,-9.3,52,376,0.00,2.53,0.00,0.000,4,0.000,0.056,2547,3502,3804
$GC,404,-1.59,-146.6,25.6,-9.7,54,408,0.00,2.45,0.00,0.000,6,0.000,0.035,2546,2088,3804
$GC,599,-1.59,-146.6,45.6,-10.1,69,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2088,3804
$GC,789,-1.59,-146.6,64.9,-10.6,84,794,0.00,2.53,0.00,0.000,4,0.000,0.055,2546,3496,3805
$GC,840,-1.59,-146.6,70.7,-11.0,87,848,0.00,2.45,0.00,0.000,6,0.000,0.035,2546,2100,3804
$GC,1037,-1.59,-146.6,90.4,-10.2,103,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2100,3804
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1141,-0.38,0.0,100.7,10.4,111,1259,1.35,0.00,114.53,0.657,6,0.103,0.000,2812,1908,3202
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1263,1.59,146.6,104.2,0.0,121,1386,2.00,2.75,112.25,0.634,4,0.064,0.075,3248,506,2603
$GC,1443,1.59,146.6,93.5,10.1,135,1451,0.00,2.53,0.00,0.000,6,0.000,0.038,3249,1907,2602
$GC,1640,1.61,159.6,74.4,9.5,151,1656,0.00,2.62,9.43,0.673,4,0.000,0.052,3249,3309,2551
$GC,1771,1.61,159.6,60.4,11.1,161,1775,0.00,2.47,0.00,0.000,6,0.000,0.038,3249,1901,2551
$GC,1973,1.62,166.6,40.4,9.8,177,1986,0.00,2.60,5.15,0.698,4,0.000,0.051,3249,3306,2522
$GC,2092,1.62,166.6,28.0,10.5,186,2096,0.00,2.47,0.00,0.000,6,0.000,0.038,3249,1903,2521
$GC,2293,1.67,212.1,9.1,8.0,210,2335,0.00,2.60,34.12,0.622,4,0.000,0.052,3249,3302,2337
$STATE,2387,end climb,SURFACE_DEPTH_REACHED
$STATE,2387,begin surface coast
$FINISH,0.2,1.020152
$STATE,2419,end surface coast,CONTROL_FINISHED_OK
$STATE,2419,begin surface
$SM_CCo,2447,189.93,0.569,0,0,755,600.00
$SM_GC,0.66,0.00,0.00,189.93,0.000,0.000,0.569,406,2085,755,-11.47,-0.42,600.00
$IRIDIUM_FIX,4726.11,-12255.26,220907,101035
$TT8_MAMPS,0.071331
$HUMID,2307
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,15
$ALTIM_TOP_PING,10.0,10.1
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.7,15.414
$10V_AH,10.1,9.622
$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,29.375,35.650,275.475,189.925,0.000,62.327,35.150,236.152,4.250,0.000,3328.000,47.112,411.612,1289.334,583.689,473.183,461.152,33.326,867.490,0.000,416.220,0.000,4.106
$DEVICE_MAMPS,190.983,79.001,697.970,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.577,0.000,0.000,0.000,0.000,0.000,0.000,3328.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,230
$CFSIZE,260231168,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,084027,4739.156,-12251.653,13,1.4,13,18.3