version: 66.02
glider: 117
mission: 4
dive: 88
start: 9 25 107 17 11 16
data:
$ID,117
$MISSION,4
$DIVE,88
$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,-18547.336
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,170005,4739.178,-12252.379,15,3.0,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.0
$GPS2,171009,4739.166,-12252.303,13,1.8,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.166
$KALMAN_X,22540.8,101.0,138.6,-22289.9,196.2
$KALMAN_Y,12766.4,93.5,70.5,-14081.9,106.5
$MHEAD_RNG_PITCHd_Wd,306.3,571,-20.8,-8.889
$D_GRID,126
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.72,-93.1,0.0,0.0,0,76,0.00,0.00,-48.90,0.000,2,0.000,0.000,411,2090,2426
$GC,79,-1.72,-97.8,2.0,-2.9,8,153,13.25,2.65,-51.40,0.000,4,0.198,0.077,2516,702,3603
$GC,213,-1.72,-97.8,10.4,-10.9,29,219,0.00,2.45,0.00,0.000,6,0.000,0.037,2517,2100,3604
$GC,284,-1.72,-97.8,17.5,-9.6,40,291,0.00,2.53,0.00,0.000,4,0.000,0.055,2516,3496,3605
$GC,434,-1.72,-97.8,33.6,-10.9,53,442,0.00,2.47,0.00,0.000,6,0.000,0.035,2516,2101,3606
$GC,631,-1.72,-97.8,54.2,-9.9,69,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2102,3606
$GC,823,-1.72,-97.8,73.9,-10.5,84,828,0.00,2.65,0.00,0.000,4,0.000,0.054,2516,3499,3606
$GC,887,-1.72,-97.8,81.4,-11.1,88,895,0.00,2.47,0.00,0.000,6,0.000,0.035,2516,2101,3606
$GC,1084,-1.72,-97.8,101.5,-10.0,104,1088,0.00,2.55,0.00,0.000,4,0.000,0.054,2516,3500,3606
$GC,1108,-1.72,-97.8,104.0,-10.6,105,1116,0.00,2.47,0.00,0.000,6,0.000,0.035,2516,2102,3606
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1285,-0.38,0.0,121.0,9.5,119,1367,1.52,0.00,77.93,0.681,6,0.107,0.000,2810,1998,3202
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1370,1.72,97.8,123.4,0.0,126,1455,2.12,2.58,76.38,0.662,4,0.062,0.052,3275,3394,2802
$GC,1561,1.74,110.5,111.7,8.1,141,1577,0.00,2.45,9.52,0.699,6,0.000,0.036,3275,2004,2751
$GC,1775,1.75,115.9,94.0,8.5,158,1781,0.00,0.00,3.90,0.744,6,0.000,0.000,3276,2004,2729
$GC,1964,1.75,118.6,77.0,8.7,173,1968,0.00,0.00,1.83,0.797,6,0.000,0.000,3276,2004,2718
$GC,2154,1.76,123.7,60.5,8.6,188,2166,0.00,2.58,3.80,0.742,4,0.000,0.052,3276,3390,2697
$GC,2273,1.76,123.7,49.1,9.9,197,2277,0.00,2.47,0.00,0.000,6,0.000,0.037,3276,1996,2697
$GC,2468,1.76,129.6,31.7,8.5,212,2481,0.00,2.58,4.43,0.726,4,0.000,0.053,3276,3391,2673
$GC,2552,1.76,129.6,24.0,9.7,218,2559,0.00,2.47,0.00,0.000,6,0.000,0.036,3276,2001,2673
$GC,2755,1.80,163.1,8.1,6.7,245,2787,0.00,2.62,25.65,0.638,4,0.000,0.053,3276,3393,2536
$STATE,2804,end climb,SURFACE_DEPTH_REACHED
$STATE,2804,begin surface coast
$FINISH,1.2,1.020695
$STATE,2884,end surface coast,CONTROL_FINISHED_OK
$STATE,2885,begin surface
$SM_CCo,2913,131.00,0.582,0,0,1367,450.13
$SM_GC,1.28,0.00,0.00,131.00,0.000,0.000,0.582,413,2082,1367,-11.44,-0.54,450.13
$IRIDIUM_FIX,4719.74,-12247.38,250907,202009
$TT8_MAMPS,0.071331
$HUMID,2230
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.7,24.398
$10V_AH,10.1,15.805
$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,30.550,40.450,203.425,131.000,0.000,63.504,35.781,309.715,0.500,107.920,3697.080,13.634,493.661,1671.143,457.723,501.119,553.605,33.345,756.199,0.000,477.540,0.000,2.491
$DEVICE_MAMPS,197.886,76.700,796.913,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.264,0.000,0.000,0.000,0.000,0.000,0.000,3805.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,265
$CFSIZE,260231168,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,180245,4739.326,-12252.576,10,1.3,10,18.3