version: 66.02
glider: 117
mission: 4
dive: 124
start: 9 27 107 5 9 9
data:
$ID,117
$MISSION,4
$DIVE,124
$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,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19428.836
$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,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$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
$GPS1,050056,4739.397,-12253.195,38,1.2,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.2
$GPS2,050802,4739.423,-12253.211,14,1.2,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.004
$KALMAN_X,22077.4,-71.2,85.8,-22732.6,107.4
$KALMAN_Y,9927.4,-123.0,167.3,-10647.8,62.6
$MHEAD_RNG_PITCHd_Wd,72.9,1013,-20.3,-8.889
$D_GRID,117
$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,-97.8,0.0,0.0,0,81,0.00,0.00,-55.12,0.000,2,0.000,0.000,411,2184,2376
$GC,84,-1.68,-97.8,2.2,-3.3,9,158,13.27,2.60,-50.20,0.000,4,0.196,0.068,2524,3592,3603
$GC,410,-1.68,-97.8,29.7,-10.3,52,414,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2199,3606
$GC,611,-1.68,-97.8,49.5,-9.9,68,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2198,3606
$GC,804,-1.68,-97.8,68.3,-10.2,83,808,0.00,2.55,0.00,0.000,4,0.000,0.058,2524,3605,3606
$GC,849,-1.68,-97.8,73.1,-10.1,86,853,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2196,3606
$GC,1045,-1.68,-97.8,93.2,-9.9,101,1049,0.00,2.53,0.00,0.000,4,0.000,0.057,2523,3598,3606
$GC,1130,-1.68,-97.8,102.3,-10.8,107,1134,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2200,3606
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1286,-0.38,0.0,117.6,10.0,119,1368,1.48,0.00,77.82,0.673,6,0.107,0.000,2811,2074,3202
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1371,1.68,97.8,120.6,0.0,126,1456,2.15,2.60,76.22,0.651,4,0.065,0.054,3266,3476,2803
$GC,1509,1.72,125.9,114.6,7.2,137,1537,0.00,2.42,21.58,0.665,6,0.000,0.035,3266,2080,2688
$GC,1734,1.72,125.9,94.8,9.4,155,1738,0.00,2.55,0.00,0.000,4,0.000,0.055,3266,3482,2687
$GC,1879,1.72,125.9,81.0,9.5,166,1884,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2091,2686
$GC,2082,1.73,137.6,63.1,8.2,182,2095,0.00,2.58,8.32,0.694,4,0.000,0.054,3266,3478,2641
$GC,2188,1.73,137.6,53.1,10.3,190,2193,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2073,2641
$GC,2383,1.73,137.6,35.1,9.1,205,2388,0.00,2.55,0.00,0.000,4,0.000,0.055,3266,3482,2640
$GC,2461,1.73,137.6,27.3,9.7,210,2468,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2086,2640
$GC,2663,1.75,151.9,8.7,8.0,235,2676,0.00,0.00,11.00,0.666,6,0.000,0.000,3266,2086,2581
$GC,2742,1.86,241.8,5.5,3.4,247,2755,0.17,0.00,10.98,0.655,2,0.051,0.000,3309,2086,2522
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2756,begin surface coast
$FINISH,2.2,1.021544
$STATE,2920,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2947,151.38,0.574,0,0,1163,500.17
$SM_GC,1.35,0.00,0.00,151.38,0.000,0.000,0.574,414,2216,1163,-11.44,0.42,500.17
$IRIDIUM_FIX,4719.74,-12231.45,270907,080811
$TT8_MAMPS,0.085904
$HUMID,2222
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,93.2,999.0
$24V_AH,23.7,27.910
$10V_AH,10.1,18.506
$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,30.900,35.300,205.925,151.375,0.000,60.328,36.321,136.261,0.500,4.150,3690.850,31.681,509.743,1682.019,461.769,541.624,357.219,33.350,764.655,0.000,498.174,0.000,2.491
$DEVICE_MAMPS,196.352,68.263,694.135,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.162,0.000,0.000,0.000,0.000,0.000,0.000,3695.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,274
$CFSIZE,260231168,253476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,060133,4739.439,-12252.740,11,1.7,11,18.3