version: 66.02
glider: 117
mission: 4
dive: 14
start: 9 22 107 10 42 26
data:
$ID,117
$MISSION,4
$DIVE,14
$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,-16701.932
$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,27
$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
$GPS1,103301,4739.178,-12251.583,39,1.6,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.0
$GPS2,104120,4739.247,-12251.522,11,1.5,16,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.209,-0.158
$KALMAN_X,3278.6,711.1,233.5,-2766.6,64.4
$KALMAN_Y,2561.5,555.1,205.9,-4331.8,44.5
$MHEAD_RNG_PITCHd_Wd,214.6,751,-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,-96.95,0.000,2,0.000,0.000,411,2089,2762
$GC,129,-1.59,-146.6,2.2,-5.0,16,184,13.23,2.65,-32.78,0.000,4,0.192,0.077,2545,703,3801
$GC,216,-1.59,-146.6,8.5,-9.3,30,223,0.00,2.45,0.00,0.000,6,0.000,0.036,2545,2099,3802
$GC,288,-1.59,-146.6,15.1,-8.9,41,295,0.00,2.53,0.00,0.000,4,0.000,0.055,2545,3501,3803
$GC,315,-1.59,-146.6,17.8,-10.6,45,321,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2097,3803
$GC,391,-1.59,-146.6,24.9,-9.3,53,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2098,3803
$GC,582,-1.59,-146.6,43.7,-9.9,68,586,0.00,2.53,0.00,0.000,4,0.000,0.054,2546,3499,3803
$GC,640,-1.59,-146.6,50.0,-10.3,72,644,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2097,3803
$GC,842,-1.59,-146.6,70.2,-10.0,88,846,0.00,2.53,0.00,0.000,4,0.000,0.054,2545,3496,3804
$GC,888,-1.59,-146.6,75.2,-11.1,91,892,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2097,3804
$GC,1083,-1.59,-146.6,95.6,-10.8,106,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2097,3804
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1137,-0.38,0.0,101.1,11.0,110,1255,1.38,0.00,113.85,0.661,6,0.103,0.000,2815,1916,3203
$STATE,1256,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1258,1.59,146.6,105.4,0.0,120,1382,2.00,2.75,111.75,0.639,4,0.064,0.074,3248,510,2604
$GC,1413,1.63,173.8,98.5,8.8,132,1439,0.00,2.50,20.65,0.649,6,0.000,0.037,3248,1900,2493
$GC,1628,1.63,178.5,77.3,9.9,149,1640,0.00,2.62,3.15,0.730,4,0.000,0.052,3248,3312,2474
$GC,1751,1.63,178.5,64.2,10.7,158,1758,0.00,2.50,0.00,0.000,6,0.000,0.038,3248,1910,2474
$GC,1947,1.63,178.5,43.5,10.5,174,1951,0.00,2.53,0.00,0.000,4,0.000,0.051,3248,3305,2473
$GC,2000,1.63,178.5,38.0,10.8,178,2004,0.00,2.45,0.00,0.000,6,0.000,0.038,3248,1912,2473
$GC,2196,1.64,184.9,18.6,9.8,194,2209,0.00,2.58,4.70,0.707,4,0.000,0.051,3249,3303,2448
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,0.4,1.020563
$STATE,2439,end surface coast,CONTROL_FINISHED_OK
$STATE,2439,begin surface
$SM_CCo,2467,204.27,0.572,0,0,755,600.00
$SM_GC,0.84,0.00,0.00,204.27,0.000,0.000,0.572,410,2088,755,-11.45,-0.34,600.00
$IRIDIUM_FIX,4722.92,-12249.11,220907,131353
$TT8_MAMPS,0.077467
$HUMID,2301
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,7.4
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,23.8,15.730
$10V_AH,10.1,9.837
$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,29.675,40.300,254.100,204.275,0.000,61.206,31.815,221.023,0.750,0.000,3306.000,16.394,422.032,1317.751,583.799,436.335,439.211,33.321,863.232,0.000,411.380,0.000,4.098
$DEVICE_MAMPS,191.750,76.700,730.184,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.429,0.000,0.000,0.000,0.000,0.000,0.000,3306.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,231
$CFSIZE,260231168,257110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,112759,4739.208,-12251.532,8,3.2,27,18.3