version: 66.02
glider: 117
mission: 4
dive: 80
start: 9 25 107 8 55 53
data:
$ID,117
$MISSION,4
$DIVE,80
$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,-18300.002
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,084645,4739.512,-12252.443,11,1.9,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.8
$GPS2,085444,4739.559,-12252.450,11,1.9,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.206,-0.030
$KALMAN_X,21287.2,76.8,112.8,-21168.4,-110.1
$KALMAN_Y,12389.7,84.2,162.8,-13065.9,-38.1
$MHEAD_RNG_PITCHd_Wd,243.4,953,-20.3,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,69,0.00,0.00,-43.28,0.000,2,0.000,0.000,409,2090,2332
$GC,72,-1.68,-97.8,2.1,-2.9,7,146,13.25,2.60,-52.62,0.000,4,0.196,0.075,2525,704,3603
$GC,377,-1.68,-97.8,26.7,-9.4,49,384,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2101,3605
$GC,573,-1.68,-97.8,45.9,-10.0,65,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2101,3606
$GC,764,-1.68,-97.8,65.0,-10.0,80,768,0.00,2.53,0.00,0.000,4,0.000,0.058,2525,3499,3607
$GC,801,-1.68,-97.8,69.2,-10.3,82,809,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2103,3606
$GC,998,-1.68,-97.8,88.9,-10.3,98,1002,0.00,2.53,0.00,0.000,4,0.000,0.055,2525,3499,3605
$GC,1064,-1.68,-97.8,95.6,-10.2,103,1068,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2101,3606
$GC,1259,-1.68,-97.8,115.0,-10.0,118,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2101,3605
$STATE,1320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1325,-0.38,0.0,120.9,9.3,123,1408,1.48,0.00,78.35,0.677,6,0.106,0.000,2812,1998,3202
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1411,1.68,97.8,123.3,0.0,130,1497,2.10,2.58,76.20,0.660,4,0.063,0.052,3268,3394,2802
$GC,1528,1.73,131.7,118.8,6.8,139,1560,0.00,2.47,25.85,0.663,6,0.000,0.036,3268,2007,2665
$GC,1748,1.73,131.7,98.1,10.0,157,1753,0.00,2.67,0.00,0.000,4,0.000,0.070,3269,597,2663
$GC,1826,1.73,131.7,89.8,10.9,162,1834,0.00,2.50,0.00,0.000,6,0.000,0.035,3268,2001,2663
$GC,2023,1.73,131.7,72.1,9.1,178,2026,0.00,2.53,0.00,0.000,4,0.000,0.055,3269,3394,2663
$GC,2141,1.73,131.7,60.8,9.7,187,2145,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,1996,2663
$GC,2343,1.73,131.7,42.6,9.1,203,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1996,2663
$GC,2534,1.73,136.2,25.4,8.6,218,2546,0.00,2.60,2.90,0.749,4,0.000,0.054,3269,3392,2646
$GC,2691,1.75,152.2,11.4,7.9,237,2710,0.00,2.45,12.20,0.662,6,0.000,0.036,3269,1990,2581
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,2.2,1.021007
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2882,135.23,0.582,0,0,1367,450.13
$SM_GC,1.23,0.00,0.00,135.23,0.000,0.000,0.582,413,2115,1367,-11.44,0.42,450.13
$IRIDIUM_FIX,4722.92,-12256.21,250907,121207
$TT8_MAMPS,0.073632
$HUMID,2228
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,22.7,23.506
$10V_AH,10.1,15.177
$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,30.400,35.575,195.500,135.225,0.000,63.915,34.578,200.827,0.500,29.060,3606.940,16.875,488.682,1683.643,438.022,491.622,426.690,33.333,728.264,0.000,466.985,0.000,2.491
$DEVICE_MAMPS,196.352,75.166,748.592,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.922,0.000,0.000,0.000,0.000,0.000,0.000,3636.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,262
$CFSIZE,260231168,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,094717,4739.442,-12252.927,12,2.9,31,18.3