version: 66.02
glider: 117
mission: 4
dive: 78
start: 9 25 107 7 0 13
data:
$ID,117
$MISSION,4
$DIVE,78
$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,-18268.301
$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,23
$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
$GPS1,063514,4738.938,-12252.214,8,1.7,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.7
$GPS2,065907,4738.992,-12252.119,12,1.4,28,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.187
$KALMAN_X,21346.0,115.3,192.6,-20934.1,39.9
$KALMAN_Y,12190.8,63.1,276.5,-14006.8,20.5
$MHEAD_RNG_PITCHd_Wd,315.3,948,-20.3,-8.889
$D_GRID,127
$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,-1.68,-97.8,0.0,0.0,0,64,0.00,0.00,-37.28,0.000,2,0.000,0.000,412,2112,2215
$GC,67,-1.68,-97.8,2.1,-2.9,6,147,13.12,2.65,-59.85,0.000,4,0.192,0.073,2525,697,3602
$GC,234,-1.68,-97.8,10.6,-8.5,32,241,0.00,2.47,0.00,0.000,6,0.000,0.036,2526,2099,3603
$GC,306,-1.68,-97.8,17.0,-9.0,43,312,0.00,2.53,0.00,0.000,4,0.000,0.055,2526,3503,3605
$GC,437,-1.68,-97.8,30.5,-10.3,56,441,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2095,3604
$GC,639,-1.68,-97.8,50.0,-9.9,72,643,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3495,3604
$GC,705,-1.68,-97.8,56.6,-10.1,77,709,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2093,3604
$GC,907,-1.68,-97.8,76.9,-10.4,93,911,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3495,3604
$GC,959,-1.68,-97.8,82.5,-10.4,97,963,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2099,3604
$GC,1161,-1.68,-97.8,103.1,-10.3,113,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2101,3604
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1342,-0.38,0.0,120.2,9.8,127,1424,1.48,0.00,77.30,0.675,6,0.106,0.000,2813,1996,3203
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1427,1.68,97.8,123.0,0.0,134,1513,2.10,2.67,75.57,0.659,4,0.063,0.068,3270,603,2803
$GC,1557,1.70,108.1,117.2,8.3,144,1570,0.00,2.50,7.68,0.701,6,0.000,0.036,3271,1997,2761
$GC,1760,1.71,122.4,101.1,8.0,160,1776,0.00,2.60,10.77,0.692,4,0.000,0.056,3271,3389,2701
$GC,1879,1.71,122.4,90.3,9.4,169,1883,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2006,2701
$GC,2074,1.72,124.2,73.2,8.8,184,2078,0.00,2.53,0.00,0.000,4,0.000,0.054,3271,3397,2700
$GC,2172,1.72,124.2,64.2,9.9,191,2176,0.00,2.42,0.00,0.000,6,0.000,0.037,3270,2000,2700
$GC,2374,1.72,128.2,46.7,8.6,207,2387,0.00,2.58,3.97,0.739,4,0.000,0.053,3271,3389,2678
$GC,2494,1.72,128.2,35.8,9.7,216,2498,0.00,2.45,0.00,0.000,6,0.000,0.037,3271,1997,2678
$GC,2689,1.73,137.4,19.3,8.3,231,2702,0.00,2.55,6.93,0.695,4,0.000,0.053,3271,3394,2640
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$FINISH,2.4,1.020429
$STATE,2939,end surface coast,CONTROL_FINISHED_OK
$STATE,2939,begin surface
$SM_CCo,2968,150.00,0.586,0,0,1366,450.13
$SM_GC,1.38,0.00,0.00,150.00,0.000,0.000,0.586,413,2091,1366,-11.44,-0.25,450.13
$IRIDIUM_FIX,4719.74,-12254.47,250907,101032
$TT8_MAMPS,0.070564
$HUMID,2206
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.2,23.317
$10V_AH,10.1,15.033
$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,30.225,45.150,182.225,150.000,0.000,137.642,111.894,844.074,1.000,37.370,4610.630,28.862,510.973,1847.309,439.208,531.930,1248.795,33.338,743.355,0.000,493.620,0.000,2.492
$DEVICE_MAMPS,191.750,72.865,739.388,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.125,0.000,0.000,0.000,0.000,0.000,0.000,4648.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,269
$CFSIZE,260231168,254971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,075317,4739.231,-12252.400,11,2.1,31,18.3