version: 66.02
glider: 117
mission: 4
dive: 204
start: 9 30 107 11 55 35
data:
$ID,117
$MISSION,4
$DIVE,204
$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,-21378.582
$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,25
$R_STBD_OVSHOOT,46
$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
$GPS1,114423,4739.516,-12252.468,15,2.1,34,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-55.0
$GPS2,115429,4739.661,-12252.334,10,2.2,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,-0.154
$KALMAN_X,26041.0,340.5,122.6,-26054.8,-78.9
$KALMAN_Y,11773.3,349.7,104.2,-12470.8,-63.1
$MHEAD_RNG_PITCHd_Wd,162.2,370,-27.7,-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,-2.20,-53.0,0.0,0.0,0,103,0.00,0.00,-79.57,0.000,2,0.000,0.000,412,2210,2763
$GC,105,-2.25,-97.8,2.1,-3.5,13,161,12.60,2.53,-32.85,0.000,4,0.199,0.068,2400,3580,3603
$GC,306,-2.25,-97.8,24.1,-14.9,42,312,0.00,2.40,0.00,0.000,6,0.000,0.035,2400,2194,3605
$GC,501,-2.25,-97.8,51.9,-14.0,58,505,0.00,2.60,0.00,0.000,4,0.000,0.065,2400,798,3605
$GC,534,-2.25,-97.8,56.8,-15.7,60,538,0.00,2.42,0.00,0.000,6,0.000,0.037,2400,2194,3605
$GC,736,-2.25,-97.8,85.4,-14.0,76,740,0.00,2.53,0.00,0.000,4,0.000,0.058,2400,3597,3605
$GC,787,-2.25,-97.8,92.9,-14.2,79,794,0.00,2.45,0.00,0.000,6,0.000,0.035,2400,2197,3605
$GC,983,-2.25,-97.8,119.7,-13.6,95,987,0.00,2.42,0.00,0.000,3,0.000,0.055,2400,3545,3605
$STATE,988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,988,begin apogee
$GC,996,-0.38,0.0,120.5,13.4,95,1079,2.15,0.00,78.22,0.688,6,0.127,0.000,2810,2075,3202
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1083,2.25,97.8,124.0,0.0,102,1168,2.70,0.00,76.90,0.668,6,0.061,0.000,3394,2075,2802
$GC,1357,2.25,97.8,100.3,11.2,124,1361,0.00,2.55,0.00,0.000,4,0.000,0.054,3394,3483,2801
$GC,1606,2.25,97.8,71.7,11.3,142,1614,0.00,2.47,0.00,0.000,6,0.000,0.036,3394,2080,2800
$GC,1803,2.25,97.8,50.7,11.1,158,1807,0.00,2.50,0.00,0.000,4,0.000,0.054,3394,3475,2800
$GC,1895,2.25,97.8,39.7,11.9,165,1899,0.00,2.42,0.00,0.000,6,0.000,0.036,3394,2079,2800
$GC,2091,2.25,97.8,18.0,11.4,181,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2079,2800
$GC,2162,2.25,99.6,11.0,8.7,192,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2079,2800
$GC,2235,2.29,128.1,5.9,5.7,203,2265,0.00,2.60,22.75,0.643,4,0.000,0.053,3394,3470,2678
$STATE,2269,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,3.1,1.022356
$STATE,2449,end surface coast,CONTROL_FINISHED_OK
$STATE,2449,begin surface
$SM_CCo,2475,175.62,0.582,0,0,1163,500.17
$SM_GC,1.01,0.00,0.00,175.62,0.000,0.000,0.582,412,2187,1163,-11.45,-0.37,500.17
$IRIDIUM_FIX,4722.92,-12256.21,300907,151519
$TT8_MAMPS,0.028379
$HUMID,2167
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,34.393
$10V_AH,10.2,21.646
$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,31.850,34.700,177.875,175.625,0.000,102.598,69.763,205.068,0.250,0.000,0.000,30.098,431.140,1436.759,482.095,445.757,490.937,33.349,751.830,0.000,424.597,0.000,2.490
$DEVICE_MAMPS,199.420,68.263,687.999,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6450,236
$CFSIZE,260231168,251289600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,124053,4739.504,-12252.310,13,3.6,32,18.3