version: 66.02
glider: 117
mission: 4
dive: 137
start: 9 27 107 17 55 12
data:
$ID,117
$MISSION,4
$DIVE,137
$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,-19760.283
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,174301,4739.475,-12253.339,36,1.6,46,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.8
$GPS2,175405,4739.485,-12253.354,12,2.3,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,-0.020
$KALMAN_X,21776.4,-2.4,92.7,-22685.9,124.3
$KALMAN_Y,8964.1,-42.5,170.9,-9655.3,33.8
$MHEAD_RNG_PITCHd_Wd,77.2,1189,-20.3,-8.889
$D_GRID,119
$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,25,-1.68,-97.8,0.0,0.0,0,112,0.00,0.00,-83.88,0.000,2,0.000,0.000,409,2189,2489
$GC,114,-1.68,-97.8,2.2,-3.2,14,183,13.32,2.62,-48.58,0.000,4,0.198,0.073,2524,804,3602
$GC,346,-1.68,-97.8,21.6,-9.2,49,354,0.00,2.47,0.00,0.000,6,0.000,0.035,2524,2203,3604
$GC,543,-1.68,-97.8,39.8,-9.6,65,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2203,3604
$GC,733,-1.68,-97.8,58.3,-9.5,80,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2203,3605
$GC,922,-1.68,-97.8,77.1,-9.9,95,927,0.00,2.50,0.00,0.000,4,0.000,0.058,2524,3597,3605
$GC,1000,-1.68,-97.8,85.5,-11.1,100,1007,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2201,3605
$GC,1196,-1.68,-97.8,104.1,-9.1,116,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3605
$STATE,1345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1351,-0.38,0.0,119.5,10.2,128,1433,1.50,0.00,73.57,0.676,6,0.108,0.000,2815,2074,3202
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1436,1.68,97.8,121.4,0.0,135,1521,2.15,2.67,76.62,0.657,4,0.063,0.065,3272,697,2803
$GC,1548,1.72,130.4,117.1,6.9,144,1580,0.00,2.47,25.00,0.660,6,0.000,0.035,3271,2078,2670
$GC,1768,1.72,130.4,95.5,10.5,162,1773,0.00,2.55,0.00,0.000,4,0.000,0.058,3272,3482,2671
$GC,1952,1.72,130.4,76.1,9.4,175,1960,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2091,2671
$GC,2148,1.72,130.4,57.8,9.4,191,2152,0.00,2.50,0.00,0.000,4,0.000,0.055,3272,3480,2672
$GC,2219,1.72,130.4,50.8,9.9,196,2227,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,2087,2671
$GC,2416,1.73,138.6,33.6,8.4,212,2429,0.00,2.55,5.88,0.703,4,0.000,0.055,3272,3479,2637
$GC,2535,1.73,138.6,22.3,9.5,221,2540,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,2072,2638
$GC,2739,1.79,185.6,6.4,6.0,249,2776,0.00,0.00,35.22,0.628,2,0.000,0.000,3272,2071,2449
$STATE,2776,end climb,SURFACE_DEPTH_REACHED
$STATE,2777,begin surface coast
$FINISH,0.5,1.020919
$STATE,2901,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2927,143.12,0.578,0,0,1163,500.17
$SM_GC,1.21,0.00,0.00,143.12,0.000,0.000,0.578,407,2210,1163,-11.47,0.28,500.17
$IRIDIUM_FIX,4722.92,-12249.11,270907,212123
$TT8_MAMPS,0.071331
$HUMID,2199
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,94.6,999.0
$24V_AH,23.7,29.054
$10V_AH,10.1,19.465
$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,30.100,30.500,216.300,143.125,0.000,102.147,73.582,220.362,0.500,0.000,4078.000,33.836,486.688,1728.181,487.565,527.242,534.380,33.348,792.026,0.000,486.337,0.000,2.493
$DEVICE_MAMPS,197.886,72.865,702.572,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.958,0.000,0.000,0.000,0.000,0.000,0.000,4078.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,274
$CFSIZE,260231168,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,184709,4739.447,-12252.921,12,1.1,12,18.3