version: 66.02
glider: 117
mission: 4
dive: 71
start: 9 24 107 23 8 29
data:
$ID,117
$MISSION,4
$DIVE,71
$D_SURF,5
$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,-18135.244
$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,24
$R_STBD_OVSHOOT,42
$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,0
$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
$GPS1,225835,4738.856,-12252.904,11,2.1,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.2
$GPS2,230723,4738.879,-12252.794,12,2.1,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.006,0.154
$KALMAN_X,19431.3,328.9,-18.8,-19865.8,68.1
$KALMAN_Y,10722.4,155.4,-159.8,-12404.6,-31.9
$MHEAD_RNG_PITCHd_Wd,339.3,230,-27.7,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,70,0.00,0.00,-43.25,0.000,2,0.000,0.000,410,2111,2336
$GC,73,-2.25,-97.8,2.2,-3.3,7,147,12.57,2.67,-53.15,0.000,4,0.199,0.077,2402,698,3604
$GC,338,-2.25,-97.8,30.2,-13.9,43,346,0.00,2.47,0.00,0.000,6,0.000,0.037,2402,2082,3606
$GC,534,-2.25,-97.8,58.5,-14.6,59,539,0.00,2.55,0.00,0.000,4,0.000,0.056,2402,3498,3606
$GC,613,-2.25,-97.8,70.3,-15.5,65,617,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2098,3606
$GC,815,-2.25,-97.8,99.6,-14.8,81,819,0.00,2.55,0.00,0.000,4,0.000,0.054,2402,3503,3606
$GC,873,-2.25,-97.8,108.5,-15.6,85,881,0.00,2.47,0.00,0.000,6,0.000,0.035,2402,2100,3606
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,959,-0.38,0.0,120.5,14.5,92,1043,2.17,0.00,78.18,0.670,6,0.121,0.000,2811,1998,3202
$STATE,1044,end apogee,CONTROL_FINISHED_OK
$STATE,1044,begin climb
$GC,1046,2.25,97.8,123.6,0.0,99,1128,2.67,0.00,76.12,0.653,6,0.059,0.000,3391,1998,2803
$GC,1314,2.25,97.8,104.8,9.3,121,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1998,2800
$GC,1504,2.25,97.8,86.9,9.4,136,1509,0.00,2.55,0.00,0.000,4,0.000,0.054,3391,3402,2800
$GC,1581,2.25,97.8,78.9,10.1,141,1589,0.00,2.47,0.00,0.000,6,0.000,0.036,3391,2004,2800
$GC,1778,2.25,97.8,59.6,9.6,157,1782,0.00,2.53,0.00,0.000,4,0.000,0.053,3391,3396,2800
$GC,1989,2.25,97.8,38.4,9.8,173,1993,0.00,2.45,0.00,0.000,6,0.000,0.037,3391,1994,2800
$GC,2191,2.25,98.6,20.3,8.8,189,2196,0.00,2.55,0.00,0.000,4,0.000,0.054,3391,3395,2800
$GC,2350,2.28,119.1,8.1,6.6,212,2375,0.00,2.42,16.05,0.647,6,0.000,0.036,3391,2000,2715
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,3.7,1.020884
$STATE,2486,end surface coast,CONTROL_FINISHED_OK
$STATE,2486,begin surface
$SM_CCo,2514,154.95,0.579,0,0,1367,450.13
$SM_GC,1.33,0.00,0.00,154.95,0.000,0.000,0.579,412,2110,1367,-11.44,0.25,450.13
$IRIDIUM_FIX,4722.92,-12207.44,250907,010152
$TT8_MAMPS,0.071331
$HUMID,2223
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.8,22.502
$10V_AH,10.0,14.422
$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,31.775,30.425,170.350,154.950,0.000,60.497,31.522,230.191,0.250,53.950,3235.050,31.930,437.814,1442.129,441.554,455.283,447.811,33.337,695.819,0.000,415.499,0.000,2.489
$DEVICE_MAMPS,198.653,77.467,669.591,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.139,0.000,0.000,0.000,0.000,0.000,0.000,3289.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,233
$CFSIZE,260231168,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,235345,4739.165,-12252.723,13,1.7,13,18.3