version: 66.02
glider: 117
mission: 4
dive: 18
start: 9 22 107 14 30 35
data:
$ID,117
$MISSION,4
$DIVE,18
$D_SURF,2
$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,450
$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,-16804.48
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,141733,4739.323,-12251.088,10,1.8,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.5
$GPS2,142929,4739.407,-12250.974,14,2.2,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,-0.091
$KALMAN_X,5133.8,796.7,302.3,-4091.5,180.0
$KALMAN_Y,3773.1,598.7,195.5,-5279.0,56.2
$MHEAD_RNG_PITCHd_Wd,225.9,1486,-20.3,-8.889
$D_GRID,112
$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,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,119,0.00,0.00,-91.15,0.000,2,0.000,0.000,413,2088,2622
$GC,122,-1.68,-97.8,2.1,-4.8,15,178,13.50,2.70,-34.28,0.000,4,0.193,0.074,2529,705,3603
$GC,237,-1.68,-97.8,11.1,-11.0,33,243,0.00,2.47,0.00,0.000,6,0.000,0.035,2528,2101,3604
$GC,309,-1.68,-97.8,19.5,-10.8,44,315,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3499,3604
$GC,347,-1.68,-97.8,23.7,-11.3,48,351,0.00,2.45,0.00,0.000,6,0.000,0.033,2529,2097,3605
$GC,549,-1.68,-97.8,44.2,-10.0,64,553,0.00,2.58,0.00,0.000,4,0.000,0.053,2529,3498,3605
$GC,607,-1.68,-97.8,50.2,-10.4,68,615,0.00,2.47,0.00,0.000,6,0.000,0.034,2529,2098,3605
$GC,804,-1.68,-97.8,70.6,-11.0,84,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2098,3606
$GC,994,-1.68,-97.8,91.7,-10.9,99,998,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3499,3606
$GC,1045,-1.68,-97.8,97.7,-11.4,102,1052,0.00,2.47,0.00,0.000,6,0.000,0.035,2529,2102,3605
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1182,-0.38,0.0,112.2,10.4,113,1264,1.48,0.00,77.53,0.668,6,0.106,0.000,2810,1914,3202
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1265,begin climb
$GC,1267,1.68,97.8,115.3,0.0,120,1352,2.12,2.75,75.43,0.650,4,0.065,0.072,3271,509,2802
$GC,1371,1.76,159.9,112.4,5.1,128,1427,0.00,2.58,47.70,0.644,6,0.000,0.035,3272,1906,2549
$GC,1616,1.76,159.9,90.7,9.7,148,1620,0.00,2.58,0.00,0.000,4,0.000,0.052,3272,3307,2547
$GC,1759,1.76,159.9,75.6,10.7,158,1767,0.00,2.50,0.00,0.000,6,0.000,0.037,3272,1914,2547
$GC,1956,1.76,159.9,54.9,10.4,174,1960,0.00,2.55,0.00,0.000,4,0.000,0.050,3272,3308,2548
$GC,2063,1.76,159.9,42.8,11.4,182,2067,0.00,2.50,0.00,0.000,6,0.000,0.037,3272,1905,2547
$GC,2258,1.76,159.9,21.6,10.7,197,2262,0.00,2.58,0.00,0.000,4,0.000,0.051,3272,3306,2547
$GC,2456,1.81,198.5,5.2,6.5,225,2487,0.00,2.50,26.12,0.627,6,0.000,0.037,3272,1905,2392
$STATE,2524,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,0.1,1.021012
$STATE,2565,end surface coast,CONTROL_FINISHED_OK
$STATE,2566,begin surface
$SM_CCo,2592,112.85,0.579,0,0,1367,450.13
$SM_GC,0.89,0.00,0.00,112.85,0.000,0.000,0.579,408,2116,1367,-11.46,0.42,450.13
$IRIDIUM_FIX,4719.74,-12251.79,220907,181859
$TT8_MAMPS,0.071331
$HUMID,2311
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,55
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,87.4,999.0
$24V_AH,23.1,16.290
$10V_AH,10.0,10.134
$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,30.425,41.425,226.775,112.850,0.000,98.397,70.476,279.171,14.250,371.388,3227.612,34.424,440.553,1480.592,464.775,484.383,579.825,33.323,753.691,0.000,438.783,0.000,4.102
$DEVICE_MAMPS,192.517,73.632,668.057,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.012,0.000,0.000,0.000,0.000,0.000,0.000,3599.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,242
$CFSIZE,260231168,256987136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,151655,4739.326,-12251.155,31,1.1,41,18.3