version: 66.02
glider: 117
mission: 4
dive: 30
start: 9 23 107 3 29 40
data:
$ID,117
$MISSION,4
$DIVE,30
$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,-17101.586
$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,23
$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
$GPS1,031927,4739.070,-12253.410,13,1.3,13,18.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.2
$GPS2,032832,4739.128,-12253.397,12,1.2,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,-0.110
$KALMAN_X,7938.0,-31.1,96.5,-8882.6,44.1
$KALMAN_Y,5099.4,-158.1,36.1,-6205.0,64.3
$MHEAD_RNG_PITCHd_Wd,206.5,349,-27.5,-8.889
$D_GRID,131
$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,-2.18,-53.9,0.0,0.0,0,81,0.00,0.00,-55.15,0.000,2,0.000,0.000,411,2114,2546
$GC,84,-2.23,-96.2,2.2,-4.2,9,146,12.70,2.72,-43.38,0.000,4,0.202,0.074,2407,691,3597
$GC,185,-2.23,-96.2,8.6,-11.9,25,192,0.00,2.47,0.00,0.000,6,0.000,0.036,2406,2094,3598
$GC,257,-2.23,-96.2,18.8,-14.9,36,263,0.00,2.60,0.00,0.000,4,0.000,0.062,2406,697,3599
$GC,274,-2.23,-96.2,21.5,-14.5,38,282,0.00,2.50,0.00,0.000,6,0.000,0.035,2406,2099,3599
$GC,471,-2.23,-96.2,47.5,-13.9,54,475,0.00,2.53,0.00,0.000,4,0.000,0.055,2406,3503,3600
$GC,542,-2.23,-96.2,57.7,-14.6,59,550,0.00,2.45,0.00,0.000,6,0.000,0.035,2406,2103,3600
$GC,739,-2.23,-96.2,85.6,-13.9,75,743,0.00,2.53,0.00,0.000,4,0.000,0.054,2406,3507,3601
$GC,783,-2.23,-96.2,92.1,-14.3,78,791,0.00,2.45,0.00,0.000,6,0.000,0.035,2406,2107,3600
$GC,980,-2.23,-96.2,118.8,-12.2,94,984,0.00,2.53,0.00,0.000,4,0.000,0.054,2406,3509,3601
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,998,-0.38,0.0,120.4,12.1,95,1080,2.12,0.00,76.60,0.673,6,0.126,0.000,2809,1913,3202
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,2.23,96.2,123.4,0.0,102,1164,2.67,0.00,74.78,0.657,6,0.060,0.000,3389,1913,2808
$GC,1351,2.23,96.2,100.4,12.0,124,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1912,2806
$GC,1541,2.23,96.2,79.3,10.7,139,1545,0.00,2.53,0.00,0.000,4,0.000,0.051,3389,3310,2806
$GC,1750,2.23,96.2,56.5,10.8,154,1758,0.00,2.50,0.00,0.000,6,0.000,0.036,3389,1904,2807
$GC,1947,2.23,96.2,36.7,9.8,170,1951,0.00,2.55,0.00,0.000,4,0.000,0.051,3389,3314,2806
$GC,2191,2.25,112.4,13.2,7.1,194,2210,0.00,2.45,11.98,0.663,6,0.000,0.037,3389,1904,2742
$GC,2276,2.27,131.2,7.9,6.8,207,2295,0.00,2.62,13.77,0.650,4,0.000,0.051,3389,3315,2666
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,0.3,1.020049
$STATE,2360,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2388,143.05,0.576,0,0,1366,450.13
$SM_GC,0.95,0.00,0.00,143.05,0.000,0.000,0.576,412,2086,1366,-11.44,-0.37,450.13
$IRIDIUM_FIX,4722.92,-12316.58,230907,060613
$TT8_MAMPS,0.071331
$HUMID,2245
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,96.7,999.0
$24V_AH,23.8,18.472
$10V_AH,10.1,11.115
$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,31.150,40.400,177.125,143.050,0.000,60.415,31.732,272.438,0.750,0.000,3176.000,12.058,417.595,1337.807,448.933,415.522,485.878,33.355,699.071,0.000,396.113,0.000,4.103
$DEVICE_MAMPS,202.488,73.632,672.659,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.892,0.000,0.000,0.000,0.000,0.000,0.000,3176.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6419,220
$CFSIZE,260231168,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,041259,4738.998,-12253.572,14,2.4,33,18.3