version: 66.02
glider: 117
mission: 4
dive: 165
start: 9 28 107 22 25 22
data:
$ID,117
$MISSION,4
$DIVE,165
$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,-20425.52
$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,42
$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,0
$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
$GPS1,221806,4739.406,-12252.560,31,0.8,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.3
$GPS2,222415,4739.417,-12252.567,14,1.3,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,0.089
$KALMAN_X,21927.3,137.3,144.6,-22046.8,-174.6
$KALMAN_Y,6816.5,70.6,149.7,-7723.9,-148.8
$MHEAD_RNG_PITCHd_Wd,39.5,226,-25.7,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.05,-61.4,0.0,0.0,0,90,0.00,0.00,-67.82,0.000,2,0.000,0.000,411,2218,2580
$GC,93,-2.10,-97.8,2.2,-3.9,11,155,12.93,2.65,-42.00,0.000,4,0.202,0.073,2435,801,3602
$GC,366,-2.10,-97.8,33.0,-12.8,46,370,0.00,2.42,0.00,0.000,6,0.000,0.037,2435,2190,3605
$GC,568,-2.10,-97.8,59.6,-13.1,62,572,0.00,2.55,0.00,0.000,4,0.000,0.058,2436,3600,3606
$GC,608,-2.10,-97.8,65.1,-14.8,64,614,0.00,2.42,0.00,0.000,6,0.000,0.035,2435,2196,3606
$GC,803,-2.10,-97.8,91.3,-13.6,80,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2196,3606
$GC,994,-2.10,-97.8,116.9,-13.3,95,998,0.00,2.53,0.00,0.000,4,0.000,0.057,2435,3598,3606
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1016,begin apogee
$GC,1024,-0.38,0.0,120.6,13.7,96,1106,1.95,0.00,77.88,0.678,6,0.120,0.000,2814,2084,3202
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1109,2.10,97.8,124.1,0.0,103,1195,2.53,2.70,76.32,0.661,4,0.060,0.064,3362,676,2802
$GC,1287,2.10,97.8,112.5,10.1,117,1291,0.00,2.47,0.00,0.000,6,0.000,0.036,3362,2079,2800
$GC,1489,2.10,97.8,94.1,8.9,133,1493,0.00,2.53,0.00,0.000,4,0.000,0.058,3362,3474,2799
$GC,1706,2.10,97.8,72.4,10.3,149,1714,0.00,2.45,0.00,0.000,6,0.000,0.035,3362,2084,2800
$GC,1902,2.10,97.8,54.3,9.2,165,1906,0.00,2.53,0.00,0.000,4,0.000,0.054,3363,3476,2800
$GC,2021,2.10,97.8,42.7,9.6,174,2025,0.00,2.42,0.00,0.000,6,0.000,0.035,3362,2079,2799
$GC,2217,2.10,97.8,25.0,9.1,189,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2080,2799
$GC,2412,2.11,107.4,10.0,7.9,213,2425,0.00,2.55,6.82,0.698,4,0.000,0.054,3362,3475,2762
$STATE,2475,end climb,SURFACE_DEPTH_REACHED
$STATE,2475,begin surface coast
$FINISH,3.4,1.021379
$STATE,2549,end surface coast,CONTROL_FINISHED_OK
$STATE,2549,begin surface
$SM_CCo,2574,186.70,0.577,0,0,1163,500.17
$SM_GC,1.11,0.00,0.00,186.70,0.000,0.000,0.577,412,2181,1163,-11.44,-0.54,500.17
$IRIDIUM_FIX,4722.92,-12253.53,290907,010109
$TT8_MAMPS,0.028379
$HUMID,2172
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.7,999.0
$24V_AH,23.8,31.421
$10V_AH,10.2,20.763
$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,31.625,35.125,161.025,186.700,0.000,62.496,33.526,132.194,0.250,0.000,0.000,14.401,442.012,1486.742,462.795,444.389,325.157,33.339,731.991,0.000,438.665,0.000,2.489
$DEVICE_MAMPS,202.488,72.865,697.970,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6473,234
$CFSIZE,260231168,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,231209,4739.522,-12252.417,12,1.4,12,18.3