version: 66.02
glider: 117
mission: 4
dive: 27
start: 9 23 107 0 10 35
data:
$ID,117
$MISSION,4
$DIVE,27
$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,-17035.756
$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,16
$R_PORT_OVSHOOT,23
$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,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
$GPS1,235447,4739.521,-12252.767,11,3.2,30,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-58.7
$GPS2,000929,4739.481,-12252.751,14,4.6,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,0.005
$KALMAN_X,7498.9,192.4,-23.7,-7737.0,32.0
$KALMAN_Y,4833.7,4.2,-53.7,-5353.2,-38.7
$MHEAD_RNG_PITCHd_Wd,253.0,564,-20.3,-8.889
$D_GRID,122
$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,24,-1.68,-97.8,0.0,0.0,0,92,0.00,0.00,-65.85,0.000,2,0.000,0.000,410,2093,2740
$GC,95,-1.68,-97.8,2.2,-4.9,11,144,13.48,2.58,-28.70,0.000,4,0.198,0.065,2528,3503,3602
$GC,395,-1.68,-97.8,29.7,-9.5,49,399,0.00,2.47,0.00,0.000,6,0.000,0.034,2529,2089,3604
$GC,597,-1.68,-97.8,49.7,-10.0,65,601,0.00,2.55,0.00,0.000,4,0.000,0.053,2528,3496,3605
$GC,681,-1.68,-97.8,58.8,-10.6,71,689,0.00,2.53,0.00,0.000,6,0.000,0.034,2528,2101,3605
$GC,878,-1.68,-97.8,77.6,-8.9,87,882,0.00,2.65,0.00,0.000,4,0.000,0.069,2528,701,3605
$GC,917,-1.68,-97.8,81.2,-8.7,90,922,0.00,2.47,0.00,0.000,6,0.000,0.036,2528,2099,3605
$GC,1112,-1.68,-97.8,99.7,-9.5,105,1116,0.00,2.55,0.00,0.000,4,0.000,0.055,2529,3502,3605
$GC,1165,-1.68,-97.8,104.9,-9.7,109,1169,0.00,2.55,0.00,0.000,6,0.000,0.035,2528,2098,3605
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1346,-0.38,0.0,120.8,10.1,123,1428,1.50,0.00,78.03,0.678,6,0.108,0.000,2815,1909,3202
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1431,1.68,97.8,124.0,0.0,130,1513,2.12,0.00,76.40,0.656,6,0.064,0.000,3266,1910,2803
$GC,1700,1.69,101.7,107.2,8.6,152,1712,0.00,2.60,2.67,0.762,4,0.000,0.049,3267,3309,2787
$GC,1910,1.70,112.9,89.3,8.2,168,1923,0.00,2.47,8.60,0.701,6,0.000,0.037,3266,1910,2741
$GC,2111,1.70,112.9,71.5,9.0,184,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1910,2740
$GC,2302,1.72,125.3,55.9,8.1,199,2313,0.00,0.00,9.27,0.689,6,0.000,0.000,3266,1910,2691
$GC,2502,1.73,131.9,39.0,8.5,215,2515,0.00,2.58,4.78,0.718,4,0.000,0.050,3267,3300,2664
$GC,2665,1.73,131.9,23.9,9.5,227,2673,0.00,2.50,0.00,0.000,6,0.000,0.037,3266,1911,2663
$GC,2869,1.78,176.5,7.9,6.2,255,2912,0.00,2.58,34.58,0.626,4,0.000,0.051,3266,3293,2482
$STATE,2944,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,0.9,1.020321
$STATE,2965,end surface coast,CONTROL_FINISHED_OK
$STATE,2965,begin surface
$SM_CCo,2993,125.03,0.578,0,0,1367,450.13
$SM_GC,0.94,0.00,0.00,125.03,0.000,0.000,0.578,410,2080,1367,-11.45,-0.54,450.13
$IRIDIUM_FIX,4722.92,-12256.21,230907,030323
$TT8_MAMPS,0.071331
$HUMID,2268
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.30
$XPDR_PINGS,52
$ALTIM_TOP_PING,10.0,999.0
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.2,18.192
$10V_AH,10.1,10.875
$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,30.300,35.550,214.325,125.025,0.000,99.840,69.850,435.445,13.500,430.967,3696.033,34.153,500.245,1801.058,448.268,533.707,744.954,33.335,741.727,0.000,487.324,0.000,4.053
$DEVICE_MAMPS,197.886,69.030,761.631,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.350,0.000,0.000,0.000,0.000,0.000,0.000,4127.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,270
$CFSIZE,260231168,256647168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,230907,010337,4739.447,-12253.186,13,1.6,29,18.3