version: 66.02
glider: 117
mission: 4
dive: 28
start: 9 23 107 1 25 33
data:
$ID,117
$MISSION,4
$DIVE,28
$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,-17053.031
$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,30
$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
$GPS1,010337,4739.447,-12253.186,13,1.6,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.7
$GPS2,012426,4739.454,-12253.210,11,1.5,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,-0.179
$KALMAN_X,7546.2,97.3,21.3,-8304.7,-8.9
$KALMAN_Y,4826.9,-73.7,-29.0,-5344.0,-28.0
$MHEAD_RNG_PITCHd_Wd,192.6,973,-20.3,-8.889
$D_GRID,119
$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,-97.8,0.0,0.0,0,94,0.00,0.00,-67.22,0.000,2,0.000,0.000,411,2081,2797
$GC,97,-1.68,-97.8,2.2,-5.0,11,146,13.27,2.62,-26.98,0.000,4,0.197,0.077,2526,706,3603
$GC,397,-1.68,-97.8,31.3,-10.7,49,401,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2103,3606
$GC,599,-1.68,-97.8,52.4,-10.4,65,603,0.00,2.60,0.00,0.000,4,0.000,0.064,2526,705,3607
$GC,638,-1.68,-97.8,56.7,-11.3,68,642,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2106,3606
$GC,840,-1.68,-97.8,78.5,-10.8,84,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2106,3607
$GC,1031,-1.68,-97.8,98.1,-10.4,99,1035,0.00,2.50,0.00,0.000,4,0.000,0.057,2526,3497,3606
$GC,1094,-1.68,-97.8,105.6,-10.8,103,1102,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2108,3607
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1240,begin apogee
$GC,1245,-0.38,0.0,120.0,9.9,115,1327,1.48,0.00,77.45,0.679,6,0.104,0.000,2815,1913,3203
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1330,1.68,97.8,124.0,0.0,122,1414,2.08,0.00,76.07,0.658,6,0.064,0.000,3267,1913,2802
$GC,1603,1.70,107.0,108.4,8.3,144,1616,0.00,2.70,6.70,0.719,4,0.000,0.071,3267,506,2765
$GC,1674,1.70,107.0,101.8,9.4,149,1682,0.00,2.50,0.00,0.000,6,0.000,0.036,3267,1904,2764
$GC,1871,1.72,126.4,85.7,7.7,165,1890,0.00,2.62,14.52,0.683,4,0.000,0.052,3267,3306,2686
$GC,2143,1.72,126.4,60.0,9.8,185,2147,0.00,2.45,0.00,0.000,6,0.000,0.037,3267,1910,2684
$GC,2337,1.72,126.4,41.3,9.4,200,2341,0.00,2.53,0.00,0.000,4,0.000,0.051,3267,3312,2684
$GC,2597,1.74,143.0,16.5,7.9,222,2616,0.00,2.45,12.20,0.667,6,0.000,0.037,3267,1909,2619
$GC,2683,1.75,150.3,9.8,8.4,235,2696,0.00,2.70,5.38,0.696,4,0.000,0.073,3267,508,2589
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,1.1,1.021510
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2937,138.98,0.580,0,0,1367,450.13
$SM_GC,0.94,0.00,0.00,138.98,0.000,0.000,0.580,413,2105,1367,-11.44,0.14,450.13
$IRIDIUM_FIX,4719.74,-12251.79,230907,050552
$TT8_MAMPS,0.071331
$HUMID,2276
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.30
$XPDR_PINGS,25
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,94.3,999.0
$24V_AH,23.8,18.304
$10V_AH,10.1,10.970
$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,30.325,36.150,192.325,138.975,0.000,179.483,188.967,484.735,6.750,0.000,4440.000,16.646,508.049,1864.575,443.922,529.094,1008.495,33.337,738.885,0.000,499.855,0.000,4.103
$DEVICE_MAMPS,197.119,76.700,719.446,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.356,0.000,0.000,0.000,0.000,0.000,0.000,4440.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,269
$CFSIZE,260231168,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,021738,4739.222,-12253.296,9,1.8,14,18.3