version: 66.02
glider: 117
mission: 4
dive: 22
start: 9 22 107 18 43 40
data:
$ID,117
$MISSION,4
$DIVE,22
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$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,100
$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,450
$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,-16906.875
$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,29
$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
$GPS1,182907,4739.034,-12251.793,11,1.4,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.2
$GPS2,184232,4739.112,-12251.669,11,1.4,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,-0.066
$KALMAN_X,6400.2,658.4,105.1,-5888.2,-44.6
$KALMAN_Y,4589.8,434.5,27.2,-6307.6,-33.7
$MHEAD_RNG_PITCHd_Wd,226.4,462,-27.7,-8.889
$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,-2.20,-53.0,0.0,0.0,0,81,0.00,0.00,-55.25,0.000,2,0.000,0.000,413,2085,2550
$GC,84,-2.25,-97.3,2.0,-3.9,9,145,13.05,2.65,-38.38,0.000,4,0.202,0.074,2402,708,3601
$GC,171,-2.25,-97.3,8.1,-13.1,23,178,0.00,2.50,0.00,0.000,6,0.000,0.035,2402,2095,3603
$GC,243,-2.25,-97.3,18.6,-14.5,34,249,0.00,2.55,0.00,0.000,4,0.000,0.054,2402,3503,3603
$GC,308,-2.25,-97.3,27.3,-13.6,40,312,0.00,2.45,0.00,0.000,6,0.000,0.034,2402,2102,3604
$GC,510,-2.25,-97.3,53.9,-13.8,56,514,0.00,2.55,0.00,0.000,4,0.000,0.053,2402,3502,3604
$GC,562,-2.25,-97.3,61.4,-14.3,60,567,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,2101,3604
$GC,764,-2.25,-97.3,90.2,-14.4,76,768,0.00,2.58,0.00,0.000,4,0.000,0.054,2402,3502,3604
$GC,857,-2.25,-97.3,103.6,-14.8,83,861,0.00,2.47,0.00,0.000,6,0.000,0.035,2402,2097,3604
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,986,-0.38,0.0,121.0,13.3,93,1070,2.22,0.00,78.05,0.673,6,0.121,0.000,2812,1910,3202
$STATE,1070,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1073,2.25,97.3,123.8,0.0,100,1157,2.67,0.00,75.70,0.656,6,0.061,0.000,3393,1910,2804
$GC,1346,2.25,97.3,100.9,10.6,122,1351,0.00,2.60,0.00,0.000,4,0.000,0.051,3393,3317,2802
$GC,1410,2.25,97.3,94.4,10.2,126,1418,0.00,2.58,0.00,0.000,6,0.000,0.036,3393,1910,2802
$GC,1607,2.25,97.3,75.2,9.7,142,1611,0.00,2.62,0.00,0.000,4,0.000,0.051,3393,3311,2802
$GC,1863,2.25,97.3,49.1,10.3,161,1871,0.00,2.53,0.00,0.000,6,0.000,0.036,3393,1911,2801
$GC,2060,2.25,97.3,30.5,9.6,177,2064,0.00,2.58,0.00,0.000,4,0.000,0.051,3393,3313,2801
$GC,2317,2.28,123.0,8.9,6.0,207,2343,0.00,2.50,19.15,0.641,6,0.000,0.036,3393,1903,2700
$GC,2408,2.36,187.3,5.4,1.7,221,2463,0.00,2.60,47.55,0.609,4,0.000,0.051,3393,3313,2437
$GC,2517,2.41,229.1,2.1,4.2,238,2525,0.15,2.50,2.60,0.714,2,0.062,0.036,3428,1907,2411
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,0.7,1.020972
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2579,begin surface
$SM_CCo,2606,116.45,0.574,0,0,1367,450.13
$SM_GC,1.01,0.00,0.00,116.45,0.000,0.000,0.574,410,2115,1367,-11.45,0.42,450.13
$IRIDIUM_FIX,4722.92,-12251.79,220907,222241
$TT8_MAMPS,0.072865
$HUMID,2297
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,20.30
$XPDR_PINGS,85
$ALTIM_TOP_PING,10.0,9.5
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.0,17.120
$10V_AH,10.1,10.453
$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,32.625,41.350,223.050,116.450,0.000,98.568,65.780,382.140,21.750,376.140,3294.860,16.784,457.853,1482.895,451.707,480.970,683.410,33.320,735.771,0.000,452.290,0.000,4.101
$DEVICE_MAMPS,202.488,73.632,714.077,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.735,0.000,0.000,0.000,0.000,0.000,0.000,3671.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,247
$CFSIZE,260231168,256835584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220907,193005,4738.991,-12251.934,9,2.2,28,18.3