version: 66.02
glider: 117
mission: 4
dive: 15
start: 9 22 107 11 45 23
data:
$ID,117
$MISSION,4
$DIVE,15
$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,-16735.645
$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,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
$GPS1,112759,4739.208,-12251.532,8,3.2,27,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.1
$GPS2,114417,4739.337,-12251.362,13,2.6,32,18.3
$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,3748.5,734.1,249.1,-3078.9,64.7
$KALMAN_Y,2931.7,578.0,209.4,-4564.2,41.0
$MHEAD_RNG_PITCHd_Wd,214.4,1012,-18.4,-10.101
$D_GRID,121
$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,-146.6,0.0,0.0,0,117,0.00,0.00,-91.00,0.000,2,0.000,0.000,410,2088,2625
$GC,121,-1.59,-146.6,2.1,-4.2,15,183,13.12,2.60,-41.03,0.000,4,0.189,0.074,2545,700,3801
$GC,209,-1.59,-146.6,6.9,-9.0,29,215,0.00,2.47,0.00,0.000,6,0.000,0.036,2545,2108,3802
$GC,281,-1.59,-146.6,13.7,-9.2,40,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2108,3802
$GC,354,-1.59,-146.6,20.5,-10.0,51,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2107,3803
$GC,543,-1.59,-146.6,39.6,-10.4,66,548,0.00,2.47,0.00,0.000,4,0.000,0.055,2544,3496,3803
$GC,602,-1.59,-146.6,46.3,-11.0,70,606,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2094,3803
$GC,804,-1.59,-146.6,67.7,-10.4,86,808,0.00,2.53,0.00,0.000,4,0.000,0.054,2545,3495,3803
$GC,835,-1.59,-146.6,71.1,-10.7,88,843,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2104,3803
$GC,1032,-1.59,-146.6,91.2,-10.2,104,1036,0.00,2.50,0.00,0.000,4,0.000,0.054,2545,3495,3803
$GC,1057,-1.59,-146.6,94.0,-11.4,106,1062,0.00,2.42,0.00,0.000,6,0.000,0.035,2545,2094,3803
$STATE,1119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1119,begin apogee
$GC,1124,-0.38,0.0,100.5,9.9,111,1242,1.38,0.00,113.47,0.668,6,0.103,0.000,2815,1912,3202
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,1.59,146.6,104.1,0.0,121,1369,2.00,2.72,112.05,0.639,4,0.064,0.071,3251,511,2604
$GC,1387,1.63,176.8,98.3,8.7,132,1419,0.00,2.53,22.92,0.643,6,0.000,0.036,3251,1908,2481
$GC,1608,1.63,176.8,75.3,10.7,150,1612,0.00,2.62,0.00,0.000,4,0.000,0.051,3251,3305,2479
$GC,1734,1.63,176.8,61.3,11.1,159,1738,0.00,2.47,0.00,0.000,6,0.000,0.038,3251,1911,2479
$GC,1929,1.63,176.8,40.3,10.9,174,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1911,2478
$GC,2121,1.64,185.8,21.4,9.7,189,2134,0.00,2.55,6.50,0.679,4,0.000,0.050,3251,3306,2443
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2337,begin surface coast
$FINISH,0.5,1.020540
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2412,203.52,0.571,0,0,755,600.00
$SM_GC,0.88,0.00,0.00,203.52,0.000,0.000,0.571,410,2081,755,-11.45,-0.51,600.00
$IRIDIUM_FIX,4719.74,-12251.79,220907,151519
$TT8_MAMPS,0.071331
$HUMID,2282
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,16
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.7,15.856
$10V_AH,10.1,9.918
$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,29.625,35.200,254.950,203.525,0.000,140.218,292.476,222.339,4.500,29.050,3690.950,33.086,413.102,1405.750,577.536,445.385,781.085,33.319,852.308,0.000,402.639,0.000,4.101
$DEVICE_MAMPS,188.682,74.399,678.795,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.947,0.000,0.000,0.000,0.000,0.000,0.000,3720.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,228
$CFSIZE,260231168,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,123005,4739.307,-12251.294,12,2.4,31,18.3