version: 66.02
glider: 117
mission: 4
dive: 79
start: 9 25 107 8 7 4
data:
$ID,117
$MISSION,4
$DIVE,79
$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,-18282.498
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,075317,4739.231,-12252.400,11,2.1,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.5
$GPS2,080557,4739.301,-12252.385,13,1.3,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,0.153
$KALMAN_X,21314.8,99.0,176.8,-21199.6,-58.9
$KALMAN_Y,12265.2,76.4,249.9,-13496.5,-61.3
$MHEAD_RNG_PITCHd_Wd,347.2,308,-27.7,-8.889
$D_GRID,124
$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,-43.20,0.000,2,0.000,0.000,413,2091,2340
$GC,73,-2.25,-97.8,2.2,-3.4,7,147,12.43,2.62,-53.12,0.000,4,0.196,0.077,2401,700,3602
$GC,346,-2.25,-97.8,31.4,-12.6,43,350,0.00,2.47,0.00,0.000,6,0.000,0.037,2401,2107,3605
$GC,548,-2.25,-97.8,59.2,-14.4,59,551,0.00,2.50,0.00,0.000,4,0.000,0.056,2401,3496,3605
$GC,645,-2.25,-97.8,74.4,-15.9,66,653,0.00,2.45,0.00,0.000,6,0.000,0.035,2401,2100,3605
$GC,842,-2.25,-97.8,101.9,-13.5,82,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2099,3605
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,972,-0.38,0.0,120.1,14.8,92,1055,2.17,0.00,77.68,0.676,6,0.120,0.000,2814,1997,3201
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1058,2.25,97.8,123.9,0.0,99,1144,2.65,2.70,75.60,0.659,4,0.058,0.067,3393,601,2802
$GC,1150,2.28,123.5,120.9,6.0,106,1176,0.00,2.50,19.55,0.667,6,0.000,0.037,3392,1996,2698
$GC,1363,2.28,123.5,96.8,12.6,123,1367,0.00,2.55,0.00,0.000,4,0.000,0.057,3394,3399,2696
$GC,1461,2.28,123.5,84.0,13.0,130,1469,0.00,2.47,0.00,0.000,6,0.000,0.037,3393,2003,2696
$GC,1657,2.28,123.5,59.1,12.4,146,1662,0.00,2.55,0.00,0.000,4,0.000,0.053,3393,3406,2695
$GC,1789,2.28,123.5,42.8,11.8,155,1796,0.00,2.47,0.00,0.000,6,0.000,0.037,3393,1996,2695
$GC,1984,2.28,123.5,19.8,11.6,171,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1996,2695
$GC,2056,2.28,123.5,11.7,10.6,182,2063,0.00,2.55,0.00,0.000,4,0.000,0.054,3393,3402,2695
$STATE,2133,end climb,SURFACE_DEPTH_REACHED
$STATE,2134,begin surface coast
$FINISH,3.9,1.020423
$STATE,2147,end surface coast,CONTROL_FINISHED_OK
$STATE,2147,begin surface
$SM_CCo,2176,160.02,0.582,0,0,1367,450.13
$SM_GC,1.33,0.00,0.00,160.02,0.000,0.000,0.582,409,2090,1367,-11.45,-0.23,450.13
$IRIDIUM_FIX,4719.74,-12251.79,250907,111152
$TT8_MAMPS,0.070564
$HUMID,2202
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.6,23.415
$10V_AH,10.1,15.103
$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,31.625,30.300,172.825,160.025,0.000,100.684,66.864,333.199,0.500,24.920,3193.080,13.566,376.734,1285.783,441.479,385.583,634.078,33.325,678.357,0.000,365.357,0.000,2.490
$DEVICE_MAMPS,196.352,76.700,675.727,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.964,0.000,0.000,0.000,0.000,0.000,0.000,3218.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,196
$CFSIZE,260231168,254963712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,084645,4739.512,-12252.443,11,1.9,11,18.3