version: 66.02
glider: 117
mission: 4
dive: 135
start: 9 27 107 15 58 47
data:
$ID,117
$MISSION,4
$DIVE,135
$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,-19711.129
$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,28
$R_STBD_OVSHOOT,45
$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
$GPS1,155114,4739.494,-12252.937,7,2.0,7,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.1
$GPS2,155739,4739.500,-12252.941,10,1.9,10,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.081
$KALMAN_X,21657.1,-39.5,-75.8,-21848.7,124.3
$KALMAN_Y,9116.7,-71.1,-51.8,-9530.6,152.8
$MHEAD_RNG_PITCHd_Wd,226.3,331,-22.6,-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,-1.84,-79.1,0.0,0.0,0,87,0.00,0.00,-61.08,0.000,2,0.000,0.000,410,2211,2463
$GC,90,-1.86,-97.8,2.1,-2.9,10,164,13.12,2.65,-52.72,0.000,4,0.199,0.073,2487,796,3602
$GC,416,-1.86,-97.8,33.9,-10.7,51,420,0.00,2.45,0.00,0.000,6,0.000,0.036,2487,2190,3605
$GC,618,-1.86,-97.8,57.0,-12.2,67,622,0.00,2.60,0.00,0.000,4,0.000,0.062,2487,801,3606
$GC,764,-1.86,-97.8,73.6,-11.0,78,768,0.00,2.47,0.00,0.000,6,0.000,0.037,2487,2205,3606
$GC,960,-1.86,-97.8,95.6,-11.8,93,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2204,3606
$GC,1149,-1.86,-97.8,116.7,-10.7,108,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2205,3606
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1164,-0.38,0.0,117.9,10.8,109,1248,1.70,0.00,78.55,0.678,6,0.109,0.000,2815,2066,3202
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1249,begin climb
$GC,1251,1.86,97.8,120.3,0.0,116,1337,2.28,2.65,76.62,0.659,4,0.061,0.064,3309,684,2803
$GC,1356,1.89,122.3,115.8,7.0,124,1381,0.00,2.47,18.77,0.670,6,0.000,0.035,3309,2082,2703
$GC,1569,1.89,122.3,94.4,9.7,141,1574,0.00,2.55,0.00,0.000,4,0.000,0.058,3309,3476,2701
$GC,1687,1.89,122.3,82.0,10.2,149,1694,0.00,2.47,0.00,0.000,6,0.000,0.036,3309,2089,2700
$GC,1883,1.89,122.3,61.8,11.1,165,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2089,2700
$GC,2075,1.89,122.3,41.8,10.6,180,2079,0.00,2.53,0.00,0.000,4,0.000,0.055,3309,3476,2700
$GC,2192,1.89,122.3,29.1,10.5,188,2200,0.00,2.47,0.00,0.000,6,0.000,0.036,3309,2079,2700
$GC,2393,1.89,122.3,11.0,9.6,211,2399,0.00,2.53,0.00,0.000,4,0.000,0.055,3309,3476,2700
$STATE,2478,end climb,SURFACE_DEPTH_REACHED
$STATE,2478,begin surface coast
$FINISH,4.3,1.021092
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2570,begin surface
$SM_CCo,2599,179.55,0.583,0,0,1163,500.17
$SM_GC,1.25,0.00,0.00,179.55,0.000,0.000,0.583,409,2186,1163,-11.46,-0.40,500.17
$IRIDIUM_FIX,4722.92,-12256.21,270907,181856
$TT8_MAMPS,0.071331
$HUMID,2210
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.6,999.0
$24V_AH,22.7,28.871
$10V_AH,10.1,19.312
$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,31.025,30.275,173.950,179.550,0.000,62.280,33.407,122.230,0.250,74.700,3167.300,10.787,447.688,1487.548,473.285,454.708,330.171,33.341,739.776,0.000,433.900,0.000,3.915
$DEVICE_MAMPS,198.653,72.865,678.028,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.035,0.000,0.000,0.000,0.000,0.000,0.000,3242.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,238
$CFSIZE,260231168,253140992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,164608,4739.378,-12253.058,11,1.4,28,18.3