version: 66.02
glider: 117
mission: 4
dive: 85
start: 9 25 107 13 57 24
data:
$ID,117
$MISSION,4
$DIVE,85
$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,-18457.562
$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,44
$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
$GPS1,134333,4738.916,-12253.290,10,2.0,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.0
$GPS2,135617,4738.926,-12253.240,15,3.6,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,-0.207
$KALMAN_X,21854.3,23.8,-121.3,-22439.0,104.3
$KALMAN_Y,12567.1,75.0,-227.2,-14018.6,107.2
$MHEAD_RNG_PITCHd_Wd,169.1,731,-20.3,-8.889
$D_GRID,137
$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,-97.8,0.0,0.0,0,75,0.00,0.00,-49.12,0.000,2,0.000,0.000,410,2111,2429
$GC,78,-1.68,-97.8,2.1,-2.8,8,151,13.25,2.55,-49.85,0.000,4,0.196,0.067,2525,3485,3603
$GC,271,-1.68,-97.8,17.4,-10.8,38,278,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2088,3605
$GC,347,-1.68,-97.8,25.1,-10.0,46,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2088,3605
$GC,538,-1.68,-97.8,43.5,-9.9,61,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2088,3606
$GC,727,-1.68,-97.8,61.6,-9.5,76,731,0.00,2.55,0.00,0.000,4,0.000,0.054,2525,3491,3605
$GC,804,-1.68,-97.8,69.8,-10.5,81,812,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2102,3606
$GC,1001,-1.68,-97.8,89.6,-10.5,97,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2102,3606
$GC,1190,-1.68,-97.8,108.7,-10.1,112,1194,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3490,3606
$GC,1255,-1.68,-97.8,115.7,-10.4,117,1260,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2101,3606
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1311,-0.38,0.0,120.9,10.2,121,1393,1.45,0.00,77.93,0.682,6,0.107,0.000,2807,2000,3202
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1396,1.68,97.8,123.5,0.0,128,1481,2.17,2.60,76.47,0.663,4,0.064,0.052,3266,3388,2803
$GC,1710,1.68,97.8,103.0,9.0,152,1718,0.00,2.45,0.00,0.000,6,0.000,0.036,3267,2007,2800
$GC,1907,1.71,121.8,88.0,7.4,168,1932,0.00,2.55,18.15,0.677,4,0.000,0.052,3267,3388,2704
$GC,2030,1.71,121.8,77.2,9.5,177,2037,0.00,2.45,0.00,0.000,6,0.000,0.036,3267,2007,2703
$GC,2227,1.72,123.1,60.3,8.8,193,2231,0.00,2.50,0.00,0.000,4,0.000,0.053,3267,3386,2703
$GC,2277,1.72,123.1,55.2,9.8,196,2285,0.00,2.45,0.00,0.000,6,0.000,0.036,3266,2001,2703
$GC,2474,1.72,128.0,38.1,8.6,212,2487,0.00,2.53,4.28,0.733,4,0.000,0.053,3267,3380,2680
$GC,2677,1.72,128.0,20.0,8.9,227,2685,0.00,2.45,0.00,0.000,6,0.000,0.036,3267,2004,2680
$GC,2883,1.79,187.1,6.4,5.3,258,2914,0.10,0.00,29.02,0.634,2,0.064,0.000,3292,2003,2526
$STATE,2915,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,4.1,1.020204
$STATE,3039,end surface coast,CONTROL_FINISHED_OK
$STATE,3039,begin surface
$SM_CCo,3067,134.95,0.584,0,0,1366,450.13
$SM_GC,1.39,0.00,0.00,134.95,0.000,0.000,0.584,412,2098,1366,-11.44,-0.06,450.13
$IRIDIUM_FIX,4722.92,-12253.53,250907,171709
$TT8_MAMPS,0.075166
$HUMID,2225
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.7,24.042
$10V_AH,10.1,15.565
$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,30.850,35.175,205.850,134.950,0.000,101.658,72.799,307.785,0.500,107.900,3959.100,35.309,521.551,1813.129,462.404,564.934,632.158,33.344,772.530,0.000,517.084,0.000,2.491
$DEVICE_MAMPS,196.352,67.496,733.252,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.242,0.000,0.000,0.000,0.000,0.000,0.000,4067.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9620,282
$CFSIZE,260231168,254754816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,145153,4738.741,-12253.031,13,2.5,32,18.3