version: 66.02
glider: 117
mission: 4
dive: 142
start: 9 27 107 23 11 34
data:
$ID,117
$MISSION,4
$DIVE,142
$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,-19908.873
$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,41
$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
$GPS1,230002,4739.358,-12253.035,13,1.6,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.8
$GPS2,231027,4739.333,-12253.084,15,1.6,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.012,0.176
$KALMAN_X,21261.5,-48.2,-84.8,-21614.7,-112.5
$KALMAN_Y,8161.3,-73.5,-100.8,-8826.0,-232.0
$MHEAD_RNG_PITCHd_Wd,337.8,288,-24.3,-8.889
$D_GRID,120
$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,-1.95,-68.8,0.0,0.0,0,93,0.00,0.00,-67.22,0.000,2,0.000,0.000,411,2217,2598
$GC,96,-1.99,-97.8,2.4,-4.3,11,152,13.00,2.47,-36.05,0.000,4,0.201,0.068,2460,3587,3602
$GC,383,-1.99,-97.8,32.3,-11.7,48,387,0.00,2.40,0.00,0.000,6,0.000,0.035,2461,2195,3605
$GC,585,-1.99,-97.8,55.6,-11.9,64,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2194,3605
$GC,776,-1.99,-97.8,78.9,-12.7,79,780,0.00,2.53,0.00,0.000,4,0.000,0.056,2461,3594,3605
$GC,808,-1.99,-97.8,83.4,-14.1,81,812,0.00,2.40,0.00,0.000,6,0.000,0.035,2461,2200,3605
$GC,1010,-1.99,-97.8,109.5,-12.8,97,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2199,3606
$STATE,1096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1096,begin apogee
$GC,1102,-0.38,0.0,120.0,11.6,104,1184,1.83,0.00,77.57,0.676,6,0.115,0.000,2811,2074,3202
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1187,1.99,97.8,122.6,0.0,111,1268,2.45,0.00,76.20,0.655,6,0.061,0.000,3335,2075,2803
$GC,1456,1.99,97.8,103.2,9.1,133,1460,0.00,2.53,0.00,0.000,4,0.000,0.055,3335,3468,2801
$GC,1547,1.99,101.0,94.9,8.6,139,1555,0.00,2.42,2.03,0.774,6,0.000,0.035,3335,2085,2790
$GC,1743,1.99,101.0,77.5,9.2,155,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2085,2789
$GC,1934,2.00,105.6,61.6,8.5,170,1947,0.00,2.58,3.35,0.751,4,0.000,0.054,3335,3470,2771
$GC,2018,2.00,105.6,53.4,9.6,176,2025,0.00,2.45,0.00,0.000,6,0.000,0.035,3335,2079,2770
$GC,2214,2.00,106.5,36.0,8.8,192,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2079,2770
$GC,2405,2.00,106.5,18.6,9.3,208,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2078,2770
$GC,2477,2.01,115.2,12.2,8.1,219,2490,0.00,2.53,7.18,0.695,4,0.000,0.054,3335,3465,2731
$STATE,2574,end climb,SURFACE_DEPTH_REACHED
$STATE,2574,begin surface coast
$FINISH,5.1,1.021894
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2715,256.98,0.571,0,0,745,602.46
$SM_GC,1.00,13.27,0.00,0.00,0.041,0.000,0.000,410,2203,741,-11.41,0.08,603.68
$IRIDIUM_FIX,4722.92,-12253.53,280907,030317
$TT8_MAMPS,0.070564
$HUMID,2222
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.4,999.0
$24V_AH,23.7,29.516
$10V_AH,10.1,19.859
$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,30.550,24.725,166.325,256.975,0.000,99.148,66.669,214.903,0.500,0.000,3652.000,15.744,470.992,1774.957,540.825,445.809,506.487,33.340,797.573,0.000,424.168,0.000,2.488
$DEVICE_MAMPS,200.954,68.263,773.903,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.011,0.000,0.000,0.000,0.000,0.000,0.000,3652.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,254
$CFSIZE,260231168,252911616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,000407,4739.484,-12253.199,34,2.0,34,18.3