version: 66.02
glider: 117
mission: 4
dive: 138
start: 9 27 107 19 6 29
data:
$ID,117
$MISSION,4
$DIVE,138
$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,-19793.205
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,184709,4739.447,-12252.921,12,1.1,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-63.0
$GPS2,190523,4739.413,-12253.009,12,3.5,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,0.042
$KALMAN_X,21586.8,13.1,169.5,-22154.4,0.0
$KALMAN_Y,8848.8,-43.1,219.6,-9719.6,-39.8
$MHEAD_RNG_PITCHd_Wd,60.2,764,-20.3,-8.889
$D_GRID,116
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,88,0.00,0.00,-61.12,0.000,2,0.000,0.000,407,2210,2499
$GC,91,-1.68,-97.8,2.2,-4.0,10,159,13.23,2.47,-46.92,0.000,4,0.195,0.067,2526,3589,3602
$GC,178,-1.68,-97.8,5.7,-10.2,24,184,0.00,2.40,0.00,0.000,6,0.000,0.033,2526,2192,3603
$GC,250,-1.68,-97.8,13.1,-10.1,35,256,0.00,2.58,0.00,0.000,4,0.000,0.061,2526,797,3604
$GC,368,-1.68,-97.8,24.6,-9.2,50,372,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2193,3605
$GC,570,-1.68,-97.8,44.1,-10.2,66,574,0.00,2.50,0.00,0.000,4,0.000,0.057,2526,3595,3606
$GC,622,-1.68,-97.8,49.7,-10.3,70,626,0.00,2.38,0.00,0.000,6,0.000,0.035,2526,2200,3606
$GC,824,-1.68,-97.8,70.1,-10.2,86,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2199,3606
$GC,1015,-1.68,-97.8,89.7,-10.2,101,1019,0.00,2.53,0.00,0.000,4,0.000,0.057,2526,3600,3605
$GC,1079,-1.68,-97.8,97.0,-11.0,105,1086,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2205,3606
$STATE,1273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1274,begin apogee
$GC,1279,-0.38,0.0,117.1,10.7,121,1361,1.48,0.00,77.15,0.673,6,0.105,0.000,2814,2077,3202
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1364,1.68,97.8,119.9,0.0,128,1445,2.15,0.00,75.82,0.654,6,0.061,0.000,3270,2077,2803
$GC,1634,1.72,128.6,105.2,7.0,150,1659,0.00,0.00,23.45,0.663,6,0.000,0.000,3270,2078,2677
$GC,1847,1.73,135.7,87.0,8.5,167,1859,0.00,2.58,5.05,0.717,4,0.000,0.054,3270,3469,2647
$GC,2010,1.73,135.7,71.1,9.7,179,2018,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2092,2647
$GC,2206,1.73,135.7,53.6,9.1,195,2211,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,3482,2647
$GC,2291,1.73,135.7,45.4,9.7,201,2298,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2086,2647
$GC,2487,1.73,136.5,27.6,8.8,217,2491,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3481,2647
$GC,2558,1.73,136.5,20.9,9.3,222,2566,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2087,2647
$GC,2764,1.80,192.1,5.2,5.5,252,2777,0.00,0.00,11.20,0.674,2,0.000,0.000,3271,2089,2586
$STATE,2777,end climb,SURFACE_DEPTH_REACHED
$STATE,2777,begin surface coast
$FINISH,3.8,1.021459
$STATE,2895,end surface coast,CONTROL_FINISHED_OK
$STATE,2895,begin surface
$SM_CCo,2922,164.02,0.582,0,0,1163,500.17
$SM_GC,1.21,0.00,0.00,164.02,0.000,0.000,0.582,409,2215,1163,-11.46,0.42,500.17
$IRIDIUM_FIX,4726.11,-12253.53,270907,222200
$TT8_MAMPS,0.072098
$HUMID,2194
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,91.2,999.0
$24V_AH,23.7,29.159
$10V_AH,10.1,19.556
$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,30.475,34.975,192.675,164.025,0.000,182.873,235.061,287.932,0.750,0.000,4269.000,32.292,499.098,1863.325,487.107,511.962,846.109,33.346,774.799,0.000,470.216,0.000,2.491
$DEVICE_MAMPS,194.818,66.729,717.145,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.193,0.000,0.000,0.000,0.000,0.000,0.000,4269.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6469,272
$CFSIZE,260231168,253034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,195859,4739.407,-12252.668,10,4.1,29,18.3