version: 66.02
glider: 117
mission: 4
dive: 187
start: 9 29 107 19 37 51
data:
$ID,117
$MISSION,4
$DIVE,187
$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,-20955.77
$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,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
$GPS1,193034,4739.462,-12253.079,9,2.6,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-57.9
$GPS2,193644,4739.509,-12253.054,10,1.7,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,-0.090
$KALMAN_X,22809.4,-15.1,180.0,-23419.3,117.1
$KALMAN_Y,8133.6,-87.9,167.3,-8730.7,140.6
$MHEAD_RNG_PITCHd_Wd,215.8,201,-27.7,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.20,-53.0,0.0,0.0,0,103,0.00,0.00,-79.57,0.000,2,0.000,0.000,407,2218,2807
$GC,105,-2.25,-95.7,2.3,-4.1,13,155,12.60,2.65,-29.92,0.000,4,0.198,0.073,2403,797,3594
$GC,175,-2.25,-95.7,6.0,-9.6,24,182,0.00,2.45,0.00,0.000,6,0.000,0.036,2403,2196,3595
$GC,247,-2.25,-95.7,16.1,-14.0,35,253,0.00,2.53,0.00,0.000,4,0.000,0.058,2403,3597,3596
$GC,291,-2.25,-95.7,22.9,-15.2,41,299,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2198,3596
$GC,488,-2.25,-95.7,50.2,-13.8,57,492,0.00,2.53,0.00,0.000,4,0.000,0.056,2403,3596,3596
$GC,534,-2.25,-95.7,56.6,-14.2,60,538,0.00,2.42,0.00,0.000,6,0.000,0.035,2403,2195,3596
$GC,729,-2.25,-95.7,84.1,-13.6,75,733,0.00,2.60,0.00,0.000,4,0.000,0.066,2403,799,3596
$GC,748,-2.25,-95.7,86.7,-13.7,76,752,0.00,2.45,0.00,0.000,6,0.000,0.036,2403,2200,3596
$GC,950,-2.25,-95.7,114.6,-13.8,92,954,0.00,2.53,0.00,0.000,4,0.000,0.058,2403,3603,3596
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,977,-0.38,0.0,117.4,13.9,93,1058,2.12,0.00,76.60,0.677,6,0.126,0.000,2810,2075,3202
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1061,2.25,95.7,120.6,0.0,100,1147,2.67,2.67,75.12,0.659,4,0.059,0.064,3391,680,2811
$GC,1192,2.25,95.7,112.1,10.6,110,1199,0.00,2.50,0.00,0.000,6,0.000,0.035,3391,2077,2809
$GC,1388,2.25,95.7,90.9,10.9,126,1392,0.00,2.53,0.00,0.000,4,0.000,0.057,3391,3475,2809
$GC,1520,2.25,95.7,75.9,11.3,135,1527,0.00,2.42,0.00,0.000,6,0.000,0.036,3391,2080,2809
$GC,1715,2.25,95.7,54.3,11.0,151,1720,0.00,2.53,0.00,0.000,4,0.000,0.054,3391,3476,2809
$GC,1827,2.25,95.7,41.7,11.0,159,1832,0.00,2.42,0.00,0.000,6,0.000,0.035,3391,2079,2808
$GC,2023,2.25,95.7,22.0,10.1,174,2027,0.00,2.53,0.00,0.000,4,0.000,0.054,3391,3477,2808
$GC,2095,2.25,95.7,15.1,10.3,182,2101,0.00,2.42,0.00,0.000,6,0.000,0.035,3391,2078,2808
$GC,2167,2.26,100.9,8.7,8.3,193,2180,0.00,2.55,3.62,0.734,4,0.000,0.054,3391,3474,2790
$STATE,2217,end climb,SURFACE_DEPTH_REACHED
$STATE,2217,begin surface coast
$FINISH,0.6,1.021926
$STATE,2291,end surface coast,CONTROL_FINISHED_OK
$STATE,2291,begin surface
$SM_CCo,2315,184.18,0.577,0,0,1162,500.17
$SM_GC,1.16,0.00,0.00,184.18,0.000,0.000,0.577,406,2193,1162,-11.47,-0.20,500.17
$IRIDIUM_FIX,4722.92,-12256.21,290907,222245
$TT8_MAMPS,0.028379
$HUMID,2168
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.5,999.0
$24V_AH,23.7,33.091
$10V_AH,10.2,21.259
$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,30.975,50.075,155.350,184.175,0.000,63.630,47.571,116.786,0.250,0.000,0.000,14.892,408.477,1288.103,476.184,397.551,329.530,33.351,735.209,0.000,390.837,0.000,2.489
$DEVICE_MAMPS,197.886,72.865,734.019,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6457,212
$CFSIZE,260231168,251715584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290907,202015,4739.391,-12253.285,10,1.4,10,18.3