version: 66.02
glider: 117
mission: 4
dive: 16
start: 9 22 107 12 39 33
data:
$ID,117
$MISSION,4
$DIVE,16
$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,-16751.469
$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,31
$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
$GPS1,123005,4739.307,-12251.294,12,2.4,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.3
$GPS2,123827,4739.381,-12251.196,15,1.8,15,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,-0.148
$KALMAN_X,4231.3,754.0,259.1,-3384.6,100.7
$KALMAN_Y,3261.1,586.8,199.2,-4810.0,63.5
$MHEAD_RNG_PITCHd_Wd,217.2,1226,-18.4,-10.101
$D_GRID,120
$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,23,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,118,0.00,0.00,-89.95,0.000,2,0.000,0.000,410,2082,2603
$GC,121,-1.59,-146.6,2.1,-4.3,15,189,13.20,2.60,-46.88,0.000,4,0.190,0.074,2544,703,3801
$GC,210,-1.59,-146.6,6.1,-9.4,29,216,0.00,2.45,0.00,0.000,6,0.000,0.035,2544,2104,3802
$GC,281,-1.59,-146.6,14.3,-10.6,40,288,0.00,2.50,0.00,0.000,4,0.000,0.055,2544,3495,3802
$GC,365,-1.59,-146.6,23.6,-10.9,50,373,0.00,2.42,0.00,0.000,6,0.000,0.034,2544,2107,3802
$GC,562,-1.59,-146.6,44.5,-11.2,66,566,0.00,2.50,0.00,0.000,4,0.000,0.054,2545,3493,3803
$GC,593,-1.59,-146.6,48.2,-11.3,68,601,0.00,2.45,0.00,0.000,6,0.000,0.034,2545,2096,3804
$GC,790,-1.59,-146.6,68.5,-10.4,84,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2097,3803
$GC,980,-1.59,-146.6,88.2,-10.1,99,984,0.00,2.53,0.00,0.000,4,0.000,0.054,2544,3498,3803
$GC,1031,-1.59,-146.6,93.5,-10.0,102,1038,0.00,2.45,0.00,0.000,6,0.000,0.035,2544,2101,3803
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1105,-0.38,0.0,100.4,10.0,108,1223,1.38,0.00,114.65,0.658,6,0.101,0.000,2814,1911,3202
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,1.59,146.6,104.0,0.0,118,1348,2.00,0.00,112.15,0.637,6,0.064,0.000,3248,1911,2603
$GC,1539,1.62,166.5,81.9,9.2,143,1563,0.00,2.60,14.80,0.659,4,0.000,0.050,3249,3306,2523
$GC,1643,1.62,171.9,72.0,9.9,151,1655,0.00,2.47,4.03,0.709,6,0.000,0.037,3249,1905,2500
$GC,1844,1.65,194.7,53.1,9.0,167,1869,0.00,2.58,16.98,0.652,4,0.000,0.050,3249,3294,2407
$GC,1962,1.65,194.7,41.4,10.7,176,1966,0.00,2.45,0.00,0.000,6,0.000,0.038,3249,1904,2407
$GC,2157,1.67,208.7,22.2,9.5,191,2173,0.00,2.58,10.32,0.663,4,0.000,0.051,3249,3293,2350
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,0.2,1.020210
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2393,begin surface
$SM_CCo,2421,191.80,0.576,0,0,755,600.00
$SM_GC,0.90,0.00,0.00,191.80,0.000,0.000,0.576,409,2081,755,-11.46,-0.54,600.00
$IRIDIUM_FIX,4722.92,-12251.79,220907,151507
$TT8_MAMPS,0.071331
$HUMID,2294
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,9.7,9.2
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.6,15.972
$10V_AH,10.1,9.988
$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,29.650,35.025,272.925,191.800,0.000,63.070,37.580,215.956,3.250,41.500,3215.500,15.196,404.959,1274.672,595.931,427.573,440.313,33.317,873.018,0.000,403.782,0.000,4.099
$DEVICE_MAMPS,190.216,74.399,709.475,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.159,0.000,0.000,0.000,0.000,0.000,0.000,3257.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6422,225
$CFSIZE,260231168,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220907,132407,4739.332,-12251.169,11,1.6,27,18.3