version: 66.02
glider: 117
mission: 4
dive: 126
start: 9 27 107 7 3 8
data:
$ID,117
$MISSION,4
$DIVE,126
$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,-19487.898
$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,26
$R_STBD_OVSHOOT,46
$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
$GPS1,065453,4739.450,-12252.446,10,3.1,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.0
$GPS2,070201,4739.459,-12252.470,41,1.1,45,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,0.012
$KALMAN_X,21936.7,-38.0,172.9,-21787.3,-35.5
$KALMAN_Y,9918.5,-78.5,202.6,-10653.5,-23.1
$MHEAD_RNG_PITCHd_Wd,255.0,914,-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,-97.8,0.0,0.0,0,81,0.00,0.00,-55.17,0.000,2,0.000,0.000,414,2203,2370
$GC,84,-1.68,-97.8,2.0,-2.6,9,159,13.30,2.62,-53.62,0.000,4,0.197,0.072,2524,798,3602
$GC,331,-1.68,-97.8,22.7,-10.1,46,335,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2186,3604
$GC,533,-1.68,-97.8,42.3,-10.1,62,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2186,3605
$GC,723,-1.68,-97.8,63.3,-11.7,77,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2186,3605
$GC,914,-1.68,-97.8,84.3,-11.0,92,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2186,3605
$GC,1102,-1.68,-97.8,103.5,-9.8,107,1106,0.00,2.58,0.00,0.000,4,0.000,0.064,2523,798,3605
$GC,1152,-1.68,-97.8,108.8,-10.4,110,1160,0.00,2.47,0.00,0.000,6,0.000,0.037,2524,2199,3607
$STATE,1271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1277,-0.38,0.0,120.7,9.7,120,1359,1.48,0.00,78.30,0.673,6,0.105,0.000,2811,2066,3202
$STATE,1360,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1362,1.68,97.8,123.1,0.0,127,1443,2.12,0.00,76.60,0.652,6,0.061,0.000,3266,2067,2803
$GC,1632,1.71,119.4,107.4,7.6,149,1656,0.00,2.62,16.12,0.680,4,0.000,0.056,3266,3470,2714
$GC,1723,1.71,119.4,99.5,9.5,156,1728,0.00,2.42,0.00,0.000,6,0.000,0.036,3266,2084,2714
$GC,1918,1.71,119.4,81.5,9.3,171,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2085,2714
$GC,2109,1.71,119.4,64.7,9.0,186,2113,0.00,2.53,0.00,0.000,4,0.000,0.055,3266,3476,2713
$GC,2159,1.71,119.4,60.0,9.4,189,2167,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2084,2713
$GC,2356,1.73,132.2,43.2,8.1,205,2372,0.00,2.60,9.60,0.686,4,0.000,0.055,3266,3482,2663
$GC,2439,1.73,132.2,35.6,8.9,211,2446,0.00,2.47,0.00,0.000,6,0.000,0.035,3266,2081,2661
$GC,2636,1.74,140.8,18.5,8.4,228,2648,0.00,0.00,6.18,0.698,6,0.000,0.000,3266,2081,2628
$GC,2715,1.76,160.5,12.0,7.7,240,2740,0.00,2.62,15.23,0.649,4,0.000,0.055,3266,3475,2547
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,4.3,1.020369
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2847,167.75,0.574,0,0,1163,500.17
$SM_GC,1.28,0.00,0.00,167.75,0.000,0.000,0.574,409,2185,1163,-11.46,-0.42,500.17
$IRIDIUM_FIX,4722.92,-12303.31,270907,101057
$TT8_MAMPS,0.071331
$HUMID,2199
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.5,28.076
$10V_AH,10.1,18.646
$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,30.550,30.250,202.025,167.750,0.000,63.249,37.844,126.162,0.250,4.150,3545.850,45.447,468.497,1685.187,493.581,481.029,344.067,33.354,762.865,0.000,427.209,0.000,2.491
$DEVICE_MAMPS,197.119,72.098,697.970,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.740,0.000,0.000,0.000,0.000,0.000,0.000,3550.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,256
$CFSIZE,260231168,253419520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,075409,4739.356,-12252.970,12,1.6,12,18.3