version: 66.02
glider: 117
mission: 4
dive: 25
start: 9 22 107 22 0 28
data:
$ID,117
$MISSION,4
$DIVE,25
$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,-16987.18
$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,16
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,43
$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
$GPS1,214222,4739.416,-12252.314,9,2.3,28,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.6
$GPS2,215921,4739.409,-12252.207,15,2.0,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.098
$KALMAN_X,7154.6,390.2,-57.0,-6880.4,-16.4
$KALMAN_Y,4769.6,179.8,-61.8,-5591.6,-76.5
$MHEAD_RNG_PITCHd_Wd,291.1,265,-27.7,-8.889
$D_GRID,125
$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,22,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,94,0.00,0.00,-67.25,0.000,2,0.000,0.000,410,2114,2795
$GC,97,-2.25,-93.2,2.2,-4.4,11,146,12.80,2.53,-28.38,0.000,4,0.199,0.065,2403,3492,3586
$GC,160,-2.25,-93.2,6.4,-12.4,21,166,0.00,2.42,0.00,0.000,6,0.000,0.034,2403,2098,3587
$GC,232,-2.25,-93.2,15.7,-10.8,32,238,0.00,2.53,0.00,0.000,4,0.000,0.051,2403,3486,3588
$GC,284,-2.25,-93.2,21.9,-12.1,39,288,0.00,2.42,0.00,0.000,6,0.000,0.034,2403,2096,3588
$GC,486,-2.25,-93.2,48.5,-14.1,55,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2096,3589
$GC,676,-2.25,-93.2,74.8,-13.8,70,681,0.00,2.53,0.00,0.000,4,0.000,0.053,2403,3485,3589
$GC,788,-2.25,-93.2,91.4,-14.5,78,792,0.00,2.42,0.00,0.000,6,0.000,0.035,2403,2102,3589
$GC,990,-2.25,-93.2,118.7,-13.4,94,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2102,3589
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1006,-0.38,0.0,120.4,13.7,95,1088,2.17,0.00,75.03,0.671,6,0.120,0.000,2811,1914,3202
$STATE,1089,end apogee,CONTROL_FINISHED_OK
$STATE,1089,begin climb
$GC,1091,2.25,93.2,123.4,0.0,102,1172,2.72,0.00,72.85,0.653,6,0.058,0.000,3393,1914,2820
$GC,1361,2.25,93.2,102.2,10.7,124,1365,0.00,2.53,0.00,0.000,4,0.000,0.051,3392,3296,2819
$GC,1406,2.25,93.2,97.7,9.9,127,1410,0.00,2.45,0.00,0.000,6,0.000,0.035,3390,1910,2818
$GC,1608,2.25,93.2,76.8,9.7,143,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1910,2818
$GC,1798,2.25,93.2,58.6,9.3,158,1803,0.00,2.53,0.00,0.000,4,0.000,0.051,3391,3294,2817
$GC,2057,2.25,93.2,32.9,10.1,177,2061,0.00,2.47,0.00,0.000,6,0.000,0.036,3391,1907,2817
$GC,2254,2.26,101.0,16.2,8.0,195,2267,0.00,2.55,5.38,0.697,4,0.000,0.051,3391,3294,2790
$GC,2505,2.35,178.6,3.5,0.2,233,2554,0.00,2.47,40.15,0.611,6,0.000,0.035,3390,1901,2473
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,0.2,1.021122
$STATE,2625,end surface coast,CONTROL_FINISHED_OK
$STATE,2625,begin surface
$SM_CCo,2652,121.05,0.575,0,0,1367,450.13
$SM_GC,0.94,0.00,0.00,121.05,0.000,0.000,0.575,411,2100,1367,-11.45,0.00,450.13
$IRIDIUM_FIX,4722.92,-12256.21,230907,010111
$TT8_MAMPS,0.072865
$HUMID,2292
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.30
$XPDR_PINGS,75
$ALTIM_TOP_PING,9.7,9.3
$ALTIM_BOTTOM_PING,96.6,999.0
$24V_AH,23.1,17.756
$10V_AH,10.1,10.704
$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,31.475,30.475,193.400,121.050,0.000,128.740,165.404,406.623,19.250,382.213,3525.787,15.592,465.555,1628.526,422.107,463.750,840.781,33.326,693.170,0.000,437.909,0.000,4.104
$DEVICE_MAMPS,199.420,65.195,697.203,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.194,0.000,0.000,0.000,0.000,0.000,0.000,3908.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,252
$CFSIZE,260231168,256724992
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,224756,4739.542,-12252.430,40,1.2,40,18.3