version: 66.02
glider: 117
mission: 4
dive: 84
start: 9 25 107 12 54 42
data:
$ID,117
$MISSION,4
$DIVE,84
$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,-18421.625
$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,25
$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
$GPS1,123810,4739.095,-12253.631,7,3.1,26,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.6
$GPS2,125335,4739.039,-12253.664,15,4.4,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.182
$KALMAN_X,21655.4,6.1,-134.7,-22735.1,47.1
$KALMAN_Y,12324.7,57.2,-212.3,-13561.3,-25.5
$MHEAD_RNG_PITCHd_Wd,132.8,1101,-20.3,-8.889
$D_GRID,133
$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,-97.8,0.0,0.0,0,82,0.00,0.00,-55.10,0.000,2,0.000,0.000,413,2121,2552
$GC,85,-1.68,-97.8,2.2,-3.3,9,146,13.32,2.70,-39.75,0.000,4,0.197,0.074,2525,698,3603
$GC,363,-1.68,-97.8,26.9,-9.7,47,371,0.00,2.50,0.00,0.000,6,0.000,0.035,2525,2093,3606
$GC,559,-1.68,-97.8,46.4,-10.0,63,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2093,3606
$GC,750,-1.68,-97.8,65.0,-9.5,78,754,0.00,2.62,0.00,0.000,4,0.000,0.055,2525,3496,3606
$GC,801,-1.68,-97.8,70.3,-10.1,81,808,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2104,3606
$GC,997,-1.68,-97.8,88.7,-9.0,97,1001,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3501,3606
$GC,1064,-1.68,-97.8,95.1,-9.7,102,1068,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2101,3606
$GC,1258,-1.68,-97.8,114.3,-9.7,117,1263,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3499,3606
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1322,-0.38,0.0,120.1,10.1,121,1404,1.45,0.00,77.82,0.680,6,0.108,0.000,2808,2006,3202
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1407,1.68,97.8,122.4,0.0,128,1493,2.12,2.72,75.93,0.660,4,0.064,0.066,3270,592,2802
$GC,1507,1.75,148.6,118.5,5.8,136,1556,0.00,2.53,39.00,0.657,6,0.000,0.035,3270,2009,2596
$GC,1745,1.75,148.6,95.9,10.0,155,1749,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3399,2594
$GC,2002,1.75,148.6,68.0,10.9,174,2006,0.00,2.45,0.00,0.000,6,0.000,0.037,3270,1997,2593
$GC,2197,1.75,148.6,48.0,10.2,189,2201,0.00,2.55,0.00,0.000,4,0.000,0.053,3270,3394,2593
$GC,2308,1.75,148.6,35.9,11.0,197,2316,0.00,2.47,0.00,0.000,6,0.000,0.036,3270,2003,2593
$GC,2506,1.75,153.3,16.6,8.6,215,2518,0.00,2.62,3.08,0.738,4,0.000,0.053,3270,3400,2577
$GC,2564,1.75,153.3,11.2,8.9,224,2571,0.00,2.50,0.00,0.000,6,0.000,0.036,3269,1985,2576
$GC,2637,1.78,176.8,5.8,7.5,235,2656,0.00,0.00,17.12,0.639,2,0.000,0.000,3270,1984,2487
$STATE,2657,end climb,SURFACE_DEPTH_REACHED
$STATE,2657,begin surface coast
$FINISH,2.2,1.007054
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2761,125.65,0.583,0,0,1367,450.13
$SM_GC,1.39,0.00,0.00,125.65,0.000,0.000,0.583,410,2110,1367,-11.45,0.28,450.13
$IRIDIUM_FIX,4722.92,-12300.63,250907,161647
$TT8_MAMPS,0.070564
$HUMID,2230
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.2,23.918
$10V_AH,10.1,15.479
$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,30.575,40.925,212.950,125.650,0.000,102.463,84.407,459.944,0.500,99.606,3843.394,34.871,467.651,1619.537,445.253,516.186,792.669,33.338,742.093,0.000,470.004,0.000,2.492
$DEVICE_MAMPS,197.119,73.632,737.854,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.418,0.000,0.000,0.000,0.000,0.000,0.000,3943.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,250
$CFSIZE,260231168,254799872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,134333,4738.916,-12253.290,10,2.0,10,18.3