version: 66.02
glider: 117
mission: 4
dive: 188
start: 9 29 107 20 27 16
data:
$ID,117
$MISSION,4
$DIVE,188
$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,-20969.875
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,202015,4739.391,-12253.285,10,1.4,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-57.3
$GPS2,202609,4739.435,-12253.246,13,1.7,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.017
$KALMAN_X,22811.4,9.0,244.9,-23750.5,40.9
$KALMAN_Y,8140.7,-64.1,240.4,-8972.9,78.3
$MHEAD_RNG_PITCHd_Wd,76.4,1055,-20.3,-8.889
$D_GRID,118
$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,-1.68,-97.8,0.0,0.0,0,102,0.00,0.00,-79.12,0.000,2,0.000,0.000,406,2192,2798
$GC,105,-1.68,-97.8,2.3,-4.0,13,160,13.30,2.58,-32.58,0.000,4,0.196,0.067,2524,3591,3602
$GC,344,-1.68,-97.8,21.9,-10.5,49,351,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2207,3604
$GC,540,-1.68,-97.8,41.0,-10.3,65,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2207,3605
$GC,733,-1.68,-97.8,59.9,-10.5,80,737,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3598,3605
$GC,778,-1.68,-97.8,65.1,-10.9,83,782,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2199,3605
$GC,980,-1.68,-97.8,84.8,-9.5,99,984,0.00,2.53,0.00,0.000,4,0.000,0.056,2524,3596,3605
$GC,1044,-1.68,-97.8,91.3,-10.2,103,1052,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2197,3605
$GC,1241,-1.68,-97.8,109.5,-9.4,119,1245,0.00,2.60,0.00,0.000,4,0.000,0.067,2524,801,3605
$GC,1287,-1.68,-97.8,114.5,-10.7,122,1291,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2202,3605
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1341,-0.38,0.0,119.0,9.2,126,1423,1.48,0.00,78.25,0.682,6,0.107,0.000,2811,2062,3202
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1426,1.68,97.8,122.1,0.0,133,1512,2.10,2.62,77.10,0.662,4,0.061,0.065,3270,693,2802
$GC,1552,1.72,127.1,117.3,7.1,143,1580,0.00,2.45,22.73,0.671,6,0.000,0.035,3270,2080,2682
$GC,1778,1.72,127.1,96.1,10.1,161,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2080,2680
$GC,1968,1.72,127.1,77.2,10.1,176,1973,0.00,2.53,0.00,0.000,4,0.000,0.058,3270,3474,2679
$GC,2159,1.72,127.1,56.9,10.8,190,2163,0.00,2.40,0.00,0.000,6,0.000,0.036,3270,2094,2678
$GC,2362,1.72,130.0,38.4,8.7,206,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2093,2678
$GC,2552,1.73,134.7,21.3,8.6,221,2565,0.00,2.53,5.00,0.717,4,0.000,0.054,3270,3475,2652
$GC,2610,1.73,134.7,15.5,10.5,228,2617,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2079,2651
$GC,2683,1.76,162.6,9.5,7.2,239,2707,0.00,0.00,21.42,0.644,6,0.000,0.000,3270,2079,2538
$STATE,2744,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,2.1,1.009695
$STATE,2825,end surface coast,CONTROL_FINISHED_OK
$STATE,2825,begin surface
$SM_CCo,2848,154.70,0.578,0,0,1162,500.17
$SM_GC,1.13,0.00,0.00,154.70,0.000,0.000,0.578,411,2219,1162,-11.45,0.54,500.17
$IRIDIUM_FIX,4719.74,-12401.76,290907,232347
$TT8_MAMPS,0.028379
$HUMID,2184
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.1,999.0
$24V_AH,23.7,33.166
$10V_AH,10.2,21.281
$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,30.600,35.325,204.500,154.700,0.000,61.030,33.528,119.211,0.250,0.000,0.000,13.476,480.329,1645.881,471.402,470.601,320.579,33.351,765.901,0.000,464.257,0.000,2.490
$DEVICE_MAMPS,195.585,67.496,717.145,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6450,261
$CFSIZE,260231168,251686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,211823,4739.437,-12252.788,10,2.1,29,18.3