version: 66.02
glider: 117
mission: 4
dive: 12
start: 9 22 107 8 49 56
data:
$ID,117
$MISSION,4
$DIVE,12
$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,-16671.225
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,084027,4739.156,-12251.653,13,1.4,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-58.0
$GPS2,084850,4739.226,-12251.575,11,1.4,16,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,-0.165
$KALMAN_X,2561.8,707.3,211.3,-2088.9,75.9
$KALMAN_Y,2007.3,542.9,199.0,-3797.5,69.1
$MHEAD_RNG_PITCHd_Wd,212.6,675,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,124,0.00,0.00,-95.93,0.000,2,0.000,0.000,407,2084,2729
$GC,127,-1.59,-146.6,2.1,-4.7,16,183,13.23,2.60,-33.65,0.000,4,0.191,0.076,2545,703,3802
$GC,215,-1.59,-146.6,8.3,-9.3,30,222,0.00,2.45,0.00,0.000,6,0.000,0.037,2546,2102,3803
$GC,287,-1.59,-146.6,15.7,-10.6,41,294,0.00,2.53,0.00,0.000,4,0.000,0.056,2545,3502,3803
$GC,339,-1.59,-146.6,21.2,-10.4,49,343,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2101,3803
$GC,541,-1.59,-146.6,42.0,-10.2,65,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2101,3804
$GC,731,-1.59,-146.6,61.9,-10.7,80,736,0.00,2.53,0.00,0.000,4,0.000,0.055,2545,3496,3803
$GC,764,-1.59,-146.6,65.5,-11.4,82,768,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2098,3804
$GC,959,-1.59,-146.6,86.2,-10.3,97,963,0.00,2.53,0.00,0.000,4,0.000,0.055,2545,3499,3804
$GC,998,-1.59,-146.6,90.3,-10.8,100,1002,0.00,2.42,0.00,0.000,6,0.000,0.036,2545,2100,3804
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1102,-0.38,0.0,100.9,10.6,108,1221,1.38,0.00,114.30,0.656,6,0.104,0.000,2815,1908,3202
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1224,1.59,146.6,104.7,0.0,118,1345,2.00,0.00,111.72,0.637,6,0.064,0.000,3251,1909,2604
$GC,1535,1.61,161.1,84.7,9.4,143,1551,0.00,2.60,10.80,0.675,4,0.000,0.051,3251,3304,2545
$GC,1684,1.61,161.1,69.2,10.7,154,1691,0.00,2.47,0.00,0.000,6,0.000,0.038,3251,1916,2544
$GC,1881,1.63,173.0,49.8,9.6,170,1894,0.00,2.58,8.85,0.676,4,0.000,0.050,3251,3307,2496
$GC,1978,1.63,173.0,39.0,10.9,177,1986,0.00,2.47,0.00,0.000,6,0.000,0.038,3251,1918,2496
$GC,2175,1.63,173.0,18.4,10.4,194,2182,0.00,2.50,0.00,0.000,4,0.000,0.051,3251,3305,2496
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,0.6,1.020399
$STATE,2405,end surface coast,CONTROL_FINISHED_OK
$STATE,2406,begin surface
$SM_CCo,2433,212.02,0.572,0,0,755,600.00
$SM_GC,0.81,0.00,0.00,212.02,0.000,0.000,0.572,410,2090,755,-11.45,-0.28,600.00
$IRIDIUM_FIX,4722.92,-12253.53,220907,111154
$TT8_MAMPS,0.071331
$HUMID,2313
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.7,15.516
$10V_AH,10.1,9.691
$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,29.800,34.975,245.675,212.025,0.000,64.155,39.824,215.662,1.500,0.000,3238.000,16.663,415.626,1313.237,582.406,427.585,438.777,33.328,851.303,0.000,402.655,0.000,5.263
$DEVICE_MAMPS,190.983,75.933,676.494,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.944,0.000,0.000,0.000,0.000,0.000,0.000,3238.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6468,229
$CFSIZE,260231168,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,093445,4739.151,-12251.647,9,1.7,9,18.3