version: 66.02
glider: 117
mission: 4
dive: 213
start: 9 30 107 20 39 24
data:
$ID,117
$MISSION,4
$DIVE,213
$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,-21606.027
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,202857,4739.507,-12252.220,9,1.7,9,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.7
$GPS2,203815,4739.590,-12252.006,13,1.6,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.084
$KALMAN_X,28676.2,152.1,255.6,-28225.8,221.6
$KALMAN_Y,13978.4,108.0,162.6,-14618.8,90.3
$MHEAD_RNG_PITCHd_Wd,228.0,544,-20.3,-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,21,-1.68,-97.8,0.0,0.0,0,102,0.00,0.00,-79.43,0.000,2,0.000,0.000,413,2207,2760
$GC,106,-1.68,-97.8,2.0,-4.0,13,161,13.30,2.62,-34.55,0.000,4,0.198,0.073,2525,800,3602
$GC,169,-1.68,-97.8,4.5,-7.4,23,175,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2204,3604
$GC,241,-1.68,-97.8,11.7,-11.0,34,247,0.00,2.50,0.00,0.000,4,0.000,0.058,2525,3596,3604
$GC,312,-1.68,-97.8,18.7,-10.0,45,319,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2190,3605
$GC,388,-1.68,-97.8,27.9,-11.8,52,393,0.00,2.58,0.00,0.000,4,0.000,0.064,2525,804,3605
$GC,479,-1.68,-97.8,40.2,-12.9,58,487,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2198,3605
$GC,676,-1.68,-97.8,65.7,-12.9,74,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3605
$GC,866,-1.68,-97.8,87.9,-11.4,89,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3605
$GC,1056,-1.68,-97.8,109.6,-11.1,104,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2198,3605
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1159,-0.38,0.0,120.4,10.4,112,1241,1.48,0.00,78.57,0.690,6,0.107,0.000,2812,2069,3201
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1245,1.68,97.8,123.6,0.0,119,1327,2.15,0.00,77.60,0.670,6,0.064,0.000,3268,2070,2803
$GC,1513,1.72,127.2,109.5,7.1,141,1542,0.00,2.62,22.55,0.686,4,0.000,0.055,3269,3474,2682
$GC,1631,1.72,127.2,99.7,9.1,150,1635,0.00,2.40,0.00,0.000,6,0.000,0.036,3268,2094,2681
$GC,1826,1.74,140.9,83.1,8.1,165,1839,0.00,0.00,10.07,0.705,6,0.000,0.000,3269,2094,2627
$GC,2028,1.76,155.7,66.5,8.0,181,2044,0.00,2.55,11.30,0.692,4,0.000,0.054,3268,3476,2567
$GC,2150,1.76,155.7,55.4,9.3,190,2158,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2087,2566
$GC,2347,1.76,155.7,36.8,10.2,206,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2087,2566
$GC,2538,1.76,155.7,18.7,9.7,222,2544,0.00,2.50,0.00,0.000,4,0.000,0.054,3269,3476,2566
$GC,2643,1.81,201.9,9.5,6.1,238,2687,0.12,2.42,35.30,0.635,6,0.063,0.036,3299,2078,2378
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,0.3,1.021736
$STATE,2745,end surface coast,CONTROL_FINISHED_OK
$STATE,2745,begin surface
$SM_CCo,2768,136.45,0.581,0,0,1162,500.17
$SM_GC,0.97,0.00,0.00,136.45,0.000,0.000,0.581,404,2216,1162,-11.48,0.45,500.17
$IRIDIUM_FIX,4722.92,-12253.53,011007,000058
$TT8_MAMPS,0.028379
$HUMID,2162
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.6,35.099
$10V_AH,10.2,21.854
$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,30.025,30.375,235.400,136.450,0.000,105.198,113.856,136.542,0.750,0.000,0.000,13.697,455.509,1648.692,489.642,430.246,470.171,33.386,764.062,0.000,425.320,0.000,2.488
$DEVICE_MAMPS,197.886,72.865,704.873,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6452,254
$CFSIZE,260231168,251056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,212857,4739.493,-12252.251,34,2.0,34,18.3