version: 66.02
glider: 117
mission: 4
dive: 17
start: 9 22 107 13 34 57
data:
$ID,117
$MISSION,4
$DIVE,17
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$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,150
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16769.428
$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,2100
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,35
$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,10
$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,2
$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
$GPS1,132407,4739.332,-12251.169,11,1.6,27,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.1
$GPS2,133351,4739.405,-12251.017,17,1.7,17,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.226,-0.132
$KALMAN_X,4734.1,780.5,279.1,-3709.3,146.4
$KALMAN_Y,3546.8,594.0,194.1,-5052.1,77.4
$MHEAD_RNG_PITCHd_Wd,221.4,1438,-18.4,-10.101
$D_GRID,116
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.59,-146.6,0.0,0.0,0,119,0.00,0.00,-90.97,0.000,2,0.000,0.000,409,2081,2625
$GC,122,-1.59,-146.6,2.1,-4.6,15,184,13.23,0.00,-44.83,0.000,6,0.191,0.000,2547,2082,3801
$GC,249,-1.59,-146.6,10.8,-11.3,35,255,0.00,2.60,0.00,0.000,4,0.000,0.065,2547,697,3802
$GC,281,-1.59,-146.6,14.6,-11.9,40,288,0.00,2.47,0.00,0.000,6,0.000,0.035,2547,2109,3802
$GC,358,-1.59,-146.6,22.9,-10.5,50,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2109,3802
$GC,549,-1.59,-146.6,42.5,-10.6,65,553,0.00,2.50,0.00,0.000,4,0.000,0.056,2547,3498,3803
$GC,599,-1.59,-146.6,48.0,-10.2,68,607,0.00,2.47,0.00,0.000,6,0.000,0.035,2546,2098,3803
$GC,796,-1.59,-146.6,67.5,-10.4,84,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2098,3803
$GC,986,-1.59,-146.6,88.8,-11.8,99,991,0.00,2.53,0.00,0.000,4,0.000,0.054,2547,3493,3803
$GC,1018,-1.59,-146.6,92.7,-12.2,101,1022,0.00,2.42,0.00,0.000,6,0.000,0.035,2547,2095,3803
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1098,-0.38,0.0,101.1,11.0,107,1216,1.38,0.00,114.05,0.660,6,0.101,0.000,2814,1916,3201
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,1.59,146.6,104.9,0.0,117,1342,2.00,2.72,112.28,0.634,4,0.064,0.071,3250,509,2603
$GC,1355,1.66,199.4,99.5,7.7,128,1404,0.00,2.50,40.05,0.631,6,0.000,0.036,3252,1913,2388
$GC,1593,1.66,199.4,75.4,10.6,147,1597,0.00,2.53,0.00,0.000,4,0.000,0.051,3250,3309,2387
$GC,1724,1.66,199.4,61.4,11.1,156,1731,0.00,2.47,0.00,0.000,6,0.000,0.038,3250,1907,2387
$GC,1920,1.66,199.4,38.3,12.4,172,1923,0.00,2.58,0.00,0.000,4,0.000,0.051,3250,3314,2387
$GC,2030,1.66,199.4,25.2,11.0,180,2038,0.00,2.53,0.00,0.000,6,0.000,0.037,3250,1914,2387
$GC,2234,1.70,234.3,6.0,8.5,207,2266,0.00,2.62,26.20,0.623,4,0.000,0.051,3250,3307,2246
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,0.8,1.019926
$STATE,2304,end surface coast,CONTROL_FINISHED_OK
$STATE,2304,begin surface
$SM_CCo,2331,180.00,0.568,0,0,755,600.00
$SM_GC,0.87,0.00,0.00,180.00,0.000,0.000,0.568,415,2086,755,-11.44,-0.40,600.00
$IRIDIUM_FIX,4722.92,-12249.11,220907,161635
$TT8_MAMPS,0.071331
$HUMID,2294
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.4,8.5
$ALTIM_BOTTOM_PING,75.8,999.0
$24V_AH,23.6,16.095
$10V_AH,10.1,10.058
$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,29.650,35.400,292.575,180.000,0.000,61.887,38.661,298.287,2.250,49.800,3184.200,17.330,388.270,1203.304,587.897,424.781,520.169,33.324,864.795,0.000,396.392,0.000,4.101
$DEVICE_MAMPS,190.983,71.331,660.387,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.064,0.000,0.000,0.000,0.000,0.000,0.000,3234.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,218
$CFSIZE,260231168,257019904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,141733,4739.323,-12251.088,10,1.8,10,18.3