version: 66.02
glider: 117
mission: 4
dive: 77
start: 9 25 107 5 43 15
data:
$ID,117
$MISSION,4
$DIVE,77
$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,-18238.812
$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,39
$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
$GPS1,052953,4738.970,-12252.708,13,2.7,32,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.1
$GPS2,054208,4739.028,-12252.634,10,1.5,10,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.067
$KALMAN_X,21243.4,132.7,167.7,-21468.1,104.5
$KALMAN_Y,12136.6,42.9,234.3,-13823.8,138.6
$MHEAD_RNG_PITCHd_Wd,90.3,792,-20.3,-8.889
$D_GRID,128
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,71,0.00,0.00,-43.20,0.000,2,0.000,0.000,412,2104,2345
$GC,74,-1.68,-97.8,2.2,-3.1,7,154,13.00,2.58,-56.00,0.000,4,0.189,0.067,2525,3498,3602
$GC,391,-1.68,-97.8,30.2,-9.9,49,399,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2101,3604
$GC,587,-1.68,-97.8,48.2,-9.5,65,591,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3490,3605
$GC,645,-1.68,-97.8,54.1,-10.2,69,653,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2106,3605
$GC,842,-1.68,-97.8,74.1,-10.4,85,846,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3491,3605
$GC,886,-1.68,-97.8,79.0,-11.2,88,894,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2103,3605
$GC,1083,-1.68,-97.8,100.0,-10.6,104,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2103,3605
$GC,1274,-1.68,-97.8,119.9,-10.0,119,1278,0.00,2.17,0.00,0.000,3,0.000,0.052,2524,3317,3605
$STATE,1278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1285,-0.38,0.0,120.5,9.8,119,1367,1.45,0.00,77.40,0.677,6,0.108,0.000,2809,1999,3202
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1370,1.68,97.8,123.8,0.0,126,1455,2.10,2.70,76.25,0.657,4,0.063,0.067,3269,598,2802
$GC,1521,1.71,116.4,117.0,7.8,138,1541,0.00,2.47,13.90,0.682,6,0.000,0.036,3269,1992,2727
$GC,1729,1.74,142.1,101.1,7.3,154,1754,0.00,2.60,19.62,0.671,4,0.000,0.056,3269,3399,2622
$GC,1878,1.74,142.1,86.9,9.9,165,1886,0.00,2.47,0.00,0.000,6,0.000,0.036,3269,2006,2621
$GC,2075,1.74,142.1,68.1,9.9,181,2079,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3396,2621
$GC,2127,1.74,142.1,62.7,10.0,185,2131,0.00,2.45,0.00,0.000,6,0.000,0.037,3269,1996,2620
$GC,2329,1.74,142.1,42.6,9.7,201,2333,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3401,2620
$GC,2407,1.74,142.1,35.0,9.5,206,2414,0.00,2.50,0.00,0.000,6,0.000,0.036,3269,1997,2620
$GC,2604,1.74,142.1,16.6,9.3,224,2611,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3403,2620
$GC,2691,1.74,142.1,8.4,9.7,237,2697,0.00,2.45,0.00,0.000,6,0.000,0.037,3269,2001,2620
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,2.2,1.021742
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2933,138.10,0.583,0,0,1366,450.13
$SM_GC,1.38,0.00,0.00,138.10,0.000,0.000,0.583,409,2111,1366,-11.46,0.31,450.13
$IRIDIUM_FIX,4722.92,-12253.53,250907,080801
$TT8_MAMPS,0.070564
$HUMID,2220
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,22.6,23.177
$10V_AH,10.1,14.933
$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,30.150,44.800,187.175,138.100,0.000,64.099,33.439,452.168,0.250,29.050,3897.950,10.977,502.477,1689.511,449.392,508.389,685.117,33.337,750.467,0.000,487.283,0.000,2.491
$DEVICE_MAMPS,188.682,67.496,681.863,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.138,0.000,0.000,0.000,0.000,0.000,0.000,3927.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,270
$CFSIZE,260231168,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,063514,4738.938,-12252.214,8,1.7,13,18.3