version: 66.02
glider: 117
mission: 4
dive: 37
start: 9 23 107 10 38 58
data:
$ID,117
$MISSION,4
$DIVE,37
$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,-17278.85
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,25
$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
$GPS1,102256,4738.527,-12252.385,15,1.8,32,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.4
$GPS2,103751,4738.578,-12252.302,13,1.1,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,0.196
$KALMAN_X,8905.5,-11.4,14.0,-8418.5,98.7
$KALMAN_Y,6010.0,49.9,55.9,-8361.2,77.4
$MHEAD_RNG_PITCHd_Wd,1.9,868,-20.3,-8.889
$D_GRID,129
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,81,0.00,0.00,-55.15,0.000,2,0.000,0.000,413,2090,2574
$GC,84,-1.68,-97.8,2.3,-4.7,9,139,13.35,2.65,-32.53,0.000,4,0.199,0.077,2524,703,3603
$GC,389,-1.68,-97.8,30.1,-10.0,48,396,0.00,2.47,0.00,0.000,6,0.000,0.035,2524,2099,3605
$GC,585,-1.68,-97.8,48.6,-9.6,64,590,0.00,2.60,0.00,0.000,4,0.000,0.064,2524,698,3606
$GC,664,-1.68,-97.8,56.7,-10.5,70,668,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2099,3606
$GC,866,-1.68,-97.8,76.2,-9.5,86,870,0.00,2.50,0.00,0.000,4,0.000,0.057,2524,3497,3606
$GC,924,-1.68,-97.8,82.2,-9.9,90,932,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2104,3606
$GC,1120,-1.68,-97.8,100.7,-9.4,106,1124,0.00,2.50,0.00,0.000,4,0.000,0.055,2524,3495,3606
$GC,1160,-1.68,-97.8,104.7,-10.2,109,1164,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2101,3605
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1328,-0.38,0.0,120.8,10.1,122,1409,1.48,0.00,77.38,0.678,6,0.107,0.000,2811,1997,3202
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1412,1.68,97.8,123.5,0.0,129,1494,2.12,0.00,75.40,0.662,6,0.064,0.000,3265,1997,2803
$GC,1682,1.71,115.0,108.0,7.8,151,1698,0.00,0.00,12.77,0.691,6,0.000,0.000,3265,1998,2733
$GC,1883,1.72,123.1,91.2,8.4,167,1896,0.00,2.55,5.82,0.721,4,0.000,0.053,3265,3394,2699
$GC,2054,1.72,123.1,75.1,10.0,180,2058,0.00,2.42,0.00,0.000,6,0.000,0.036,3265,2004,2699
$GC,2256,1.72,123.1,56.4,9.1,196,2260,0.00,2.53,0.00,0.000,4,0.000,0.053,3265,3397,2698
$GC,2375,1.72,123.1,45.4,9.4,205,2379,0.00,2.45,0.00,0.000,6,0.000,0.037,3265,1996,2698
$GC,2577,1.72,124.7,27.2,8.8,221,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1995,2698
$GC,2771,1.74,147.2,11.5,7.5,244,2797,0.00,2.58,18.05,0.652,4,0.000,0.054,3265,3399,2602
$STATE,3046,end climb,NO_VERTICAL_VELOCITY
$STATE,3046,begin surface
$SM_CCo,3054,227.85,0.573,0,0,745,602.46
$SM_GC,0.95,12.90,0.00,0.00,0.040,0.000,0.000,410,2092,741,-11.41,-0.20,603.44
$IRIDIUM_FIX,4719.74,-12254.47,230907,141430
$TT8_MAMPS,0.072098
$HUMID,2294
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.2
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.8,19.157
$10V_AH,10.1,11.674
$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,29.850,35.025,189.425,227.850,0.000,139.884,109.146,339.892,0.500,8.300,4190.700,14.913,529.318,2019.166,523.697,519.802,727.013,33.333,818.810,0.000,500.587,0.000,4.118
$DEVICE_MAMPS,199.420,76.700,720.980,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.265,0.000,0.000,0.000,0.000,0.000,0.000,4199.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9584,286
$CFSIZE,260231168,256319488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,113637,4738.951,-12252.071,16,1.5,32,18.3