version: 66.02
glider: 117
mission: 4
dive: 13
start: 9 22 107 9 47 50
data:
$ID,117
$MISSION,4
$DIVE,13
$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,-16684.908
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,093445,4739.151,-12251.647,9,1.7,9,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.9
$GPS2,094644,4739.250,-12251.521,11,1.9,11,18.3
$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,2933.0,713.0,230.8,-2419.0,56.4
$KALMAN_Y,2295.1,554.4,214.1,-4068.9,37.1
$MHEAD_RNG_PITCHd_Wd,214.5,755,-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,24,-1.59,-146.6,0.0,0.0,0,118,0.00,0.00,-91.15,0.000,2,0.000,0.000,411,2091,2616
$GC,122,-1.59,-146.6,2.1,-4.1,15,183,13.12,2.62,-42.22,0.000,4,0.189,0.077,2546,699,3802
$GC,229,-1.59,-146.6,9.0,-9.6,32,236,0.00,2.47,0.00,0.000,6,0.000,0.036,2546,2108,3802
$GC,301,-1.59,-146.6,16.5,-10.8,43,308,0.00,2.50,0.00,0.000,4,0.000,0.055,2546,3496,3802
$GC,340,-1.59,-146.6,20.5,-10.4,49,344,0.00,2.42,0.00,0.000,6,0.000,0.035,2546,2097,3803
$GC,542,-1.59,-146.6,42.3,-11.5,65,546,0.00,2.53,0.00,0.000,4,0.000,0.054,2546,3496,3803
$GC,586,-1.59,-146.6,47.6,-11.5,68,594,0.00,2.45,0.00,0.000,6,0.000,0.035,2546,2099,3804
$GC,783,-1.59,-146.6,69.5,-11.2,84,787,0.00,2.53,0.00,0.000,4,0.000,0.054,2546,3499,3804
$GC,822,-1.59,-146.6,73.9,-11.3,87,826,0.00,2.42,0.00,0.000,6,0.000,0.035,2546,2099,3804
$GC,1024,-1.59,-146.6,95.2,-10.6,103,1028,0.00,2.53,0.00,0.000,4,0.000,0.054,2546,3503,3804
$GC,1063,-1.59,-146.6,99.5,-11.5,106,1067,0.00,2.42,0.00,0.000,6,0.000,0.035,2546,2100,3804
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1079,-0.38,0.0,100.8,11.1,107,1198,1.35,0.00,113.88,0.657,6,0.104,0.000,2811,1907,3201
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,1.59,146.6,104.9,0.0,117,1322,2.03,0.00,112.25,0.635,6,0.064,0.000,3250,1907,2603
$GC,1511,1.63,173.2,84.7,8.9,142,1536,0.00,2.62,20.00,0.648,4,0.000,0.049,3250,3305,2495
$GC,1641,1.63,175.0,71.9,10.0,152,1646,0.00,2.45,0.00,0.000,6,0.000,0.038,3250,1913,2493
$GC,1837,1.64,182.5,52.8,9.8,167,1850,0.00,2.53,6.57,0.683,4,0.000,0.049,3250,3303,2457
$GC,1943,1.64,182.5,41.9,10.6,175,1947,0.00,2.45,0.00,0.000,6,0.000,0.038,3251,1910,2457
$GC,2138,1.64,188.1,22.4,9.8,190,2151,0.00,2.58,4.10,0.709,4,0.000,0.051,3251,3303,2435
$STATE,2373,end climb,SURFACE_DEPTH_REACHED
$STATE,2373,begin surface coast
$FINISH,0.1,1.020408
$STATE,2407,end surface coast,CONTROL_FINISHED_OK
$STATE,2407,begin surface
$SM_CCo,2435,202.05,0.571,0,0,755,600.00
$SM_GC,0.84,0.00,0.00,202.05,0.000,0.000,0.571,410,2088,755,-11.45,-0.31,600.00
$IRIDIUM_FIX,4719.74,-12254.47,220907,131314
$TT8_MAMPS,0.071331
$HUMID,2300
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.7,8.0
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,23.8,15.627
$10V_AH,10.1,9.766
$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,29.550,39.975,256.800,202.050,0.000,101.855,82.635,290.057,2.250,0.000,3477.000,13.057,417.392,1349.017,593.728,421.794,603.527,33.320,861.846,0.000,402.279,0.000,4.100
$DEVICE_MAMPS,188.682,76.700,708.708,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.807,0.000,0.000,0.000,0.000,0.000,0.000,3477.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,229
$CFSIZE,260231168,257138688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,103301,4739.178,-12251.583,39,1.6,39,18.3