version: 66.02
glider: 117
mission: 4
dive: 43
start: 9 23 107 17 8 9
data:
$ID,117
$MISSION,4
$DIVE,43
$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,-17422.346
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,165035,4739.391,-12253.080,10,2.6,29,18.3
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.5
$GPS2,170702,4739.401,-12253.036,12,1.3,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.072
$KALMAN_X,9781.7,262.3,109.3,-10575.8,10.0
$KALMAN_Y,6944.9,321.4,77.4,-8059.0,2.4
$MHEAD_RNG_PITCHd_Wd,279.7,240,-27.7,-8.889
$D_GRID,117
$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,25,-2.20,-53.0,0.0,0.0,0,94,0.00,0.00,-65.97,0.000,2,0.000,0.000,411,2089,2767
$GC,96,-2.25,-94.4,2.2,-4.2,11,151,12.57,2.62,-34.08,0.000,4,0.200,0.075,2402,706,3589
$GC,159,-2.25,-97.8,4.2,-8.1,21,166,0.00,2.45,-0.35,0.000,6,0.000,0.036,2401,2097,3602
$GC,231,-2.25,-97.8,14.8,-14.9,32,238,0.00,2.53,0.00,0.000,4,0.000,0.055,2403,3503,3603
$GC,356,-2.25,-97.8,33.3,-14.5,44,363,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2098,3603
$GC,552,-2.25,-97.8,61.8,-14.8,60,556,0.00,2.53,0.00,0.000,4,0.000,0.054,2401,3502,3604
$GC,583,-2.25,-97.8,67.0,-16.4,62,591,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,2106,3604
$GC,780,-2.25,-97.8,94.9,-14.0,78,783,0.00,2.53,0.00,0.000,4,0.000,0.054,2402,3509,3604
$GC,811,-2.25,-97.8,99.5,-14.2,80,819,0.00,2.45,0.00,0.000,6,0.000,0.035,2401,2104,3604
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,948,-0.38,0.0,117.2,13.2,91,1030,2.17,0.00,77.32,0.676,6,0.120,0.000,2812,1997,3202
$STATE,1031,end apogee,CONTROL_FINISHED_OK
$STATE,1031,begin climb
$GC,1033,2.25,97.8,119.8,0.0,98,1119,2.67,2.60,75.45,0.656,4,0.060,0.054,3394,3398,2802
$GC,1238,2.25,97.8,103.7,11.4,114,1242,0.00,2.42,0.00,0.000,6,0.000,0.036,3394,2004,2801
$GC,1439,2.25,97.8,82.5,10.9,130,1444,0.00,2.65,0.00,0.000,4,0.000,0.067,3394,598,2800
$GC,1485,2.25,97.8,77.6,10.4,133,1489,0.00,2.47,0.00,0.000,6,0.000,0.036,3394,2005,2801
$GC,1687,2.25,97.8,57.2,9.8,149,1691,0.00,2.53,0.00,0.000,4,0.000,0.056,3394,3400,2800
$GC,1785,2.25,97.8,47.4,10.2,156,1792,0.00,2.47,0.00,0.000,6,0.000,0.036,3394,1999,2800
$GC,1981,2.25,97.8,28.1,10.2,172,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1999,2800
$GC,2176,2.27,113.5,11.8,7.1,195,2194,0.00,2.58,11.48,0.664,4,0.000,0.054,3394,3397,2739
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,2.3,1.021846
$STATE,2451,end surface coast,CONTROL_FINISHED_OK
$STATE,2451,begin surface
$SM_CCo,2459,236.15,0.566,0,0,745,602.46
$SM_GC,0.94,13.50,0.00,0.00,0.040,0.000,0.000,410,2092,740,-11.41,-0.23,603.93
$IRIDIUM_FIX,4722.92,-12251.79,230907,212144
$TT8_MAMPS,0.071331
$HUMID,2257
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,9.8,9.1
$ALTIM_BOTTOM_PING,93.2,999.0
$24V_AH,23.8,19.735
$10V_AH,10.1,12.153
$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,30.925,40.175,164.250,236.150,0.000,142.066,176.470,356.118,2.750,16.600,3706.400,17.063,446.811,1599.490,522.438,444.486,809.885,33.330,791.479,0.000,422.480,0.000,4.101
$DEVICE_MAMPS,200.187,75.166,676.494,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.170,0.000,0.000,0.000,0.000,0.000,0.000,3723.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,237
$CFSIZE,260231168,256135168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,175539,4739.389,-12253.383,8,1.4,8,18.3