version: 66.02
glider: 117
mission: 4
dive: 46
start: 9 23 107 20 8 8
data:
$ID,117
$MISSION,4
$DIVE,46
$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,-17497.6
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,195053,4739.004,-12253.518,15,6.7,34,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.1
$GPS2,200702,4738.958,-12253.432,41,2.0,41,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,0.139
$KALMAN_X,9859.3,229.5,-9.6,-10998.5,-68.7
$KALMAN_Y,6427.8,180.6,-78.0,-8066.8,-221.8
$MHEAD_RNG_PITCHd_Wd,316.1,228,-27.7,-8.889
$D_GRID,136
$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,-2.20,-53.0,0.0,0.0,0,88,0.00,0.00,-61.22,0.000,2,0.000,0.000,413,2114,2686
$GC,91,-2.25,-92.7,2.2,-4.4,10,147,12.55,2.65,-36.67,0.000,4,0.199,0.073,2403,698,3579
$GC,219,-2.25,-92.7,13.0,-14.0,30,226,0.00,2.45,0.00,0.000,6,0.000,0.036,2403,2088,3581
$GC,296,-2.25,-92.7,23.9,-13.9,40,301,0.00,2.55,0.00,0.000,4,0.000,0.054,2403,3505,3582
$GC,368,-2.25,-92.7,33.7,-13.1,45,375,0.00,2.47,0.00,0.000,6,0.000,0.034,2403,2095,3582
$GC,564,-2.25,-92.7,60.5,-13.6,61,568,0.00,2.53,0.00,0.000,4,0.000,0.054,2403,3502,3582
$GC,609,-2.25,-92.7,66.9,-13.9,64,616,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2103,3583
$GC,805,-2.25,-92.7,94.1,-14.1,80,809,0.00,2.53,0.00,0.000,4,0.000,0.054,2403,3506,3583
$GC,837,-2.25,-92.7,98.8,-15.3,82,844,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2104,3582
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,1000,-0.38,0.0,121.2,14.3,95,1080,2.12,0.00,72.90,0.679,6,0.122,0.000,2808,1997,3202
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,2.25,92.7,125.3,0.0,102,1169,2.67,2.72,71.57,0.660,4,0.061,0.065,3389,604,2823
$GC,1200,2.26,105.7,120.2,7.4,111,1220,0.00,2.53,9.82,0.692,6,0.000,0.035,3389,2007,2770
$GC,1408,2.26,105.7,98.0,11.6,128,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2007,2769
$GC,1599,2.26,105.7,77.7,10.0,143,1603,0.00,2.53,0.00,0.000,4,0.000,0.058,3389,3393,2769
$GC,1657,2.26,105.7,71.5,9.8,147,1661,0.00,2.42,0.00,0.000,6,0.000,0.036,3389,2004,2769
$GC,1859,2.26,105.7,50.8,10.0,163,1863,0.00,2.53,0.00,0.000,4,0.000,0.054,3390,3394,2769
$GC,1951,2.26,105.7,40.1,11.3,170,1955,0.00,2.42,0.00,0.000,6,0.000,0.036,3389,2000,2769
$GC,2153,2.26,105.7,19.0,9.7,186,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2001,2768
$GC,2225,2.27,110.4,12.8,8.4,197,2237,0.00,2.58,2.92,0.742,4,0.000,0.054,3389,3394,2752
$GC,2382,2.30,139.8,2.0,5.6,221,2390,0.00,2.42,3.20,0.733,2,0.000,0.035,3389,2000,2734
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,0.3,1.020690
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2456,156.10,0.581,0,0,1366,450.13
$SM_GC,1.10,0.00,0.00,156.10,0.000,0.000,0.581,410,2109,1366,-11.45,0.25,450.13
$IRIDIUM_FIX,4722.92,-12251.79,230907,232323
$TT8_MAMPS,0.072098
$HUMID,2232
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.30
$XPDR_PINGS,25
$ALTIM_TOP_PING,9.8,9.1
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.8,20.007
$10V_AH,10.1,12.379
$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,30.975,40.525,160.425,156.100,0.000,143.650,104.580,381.598,6.750,12.460,3673.540,41.405,432.829,1512.696,447.807,445.647,771.122,33.336,708.785,0.000,399.417,0.000,4.101
$DEVICE_MAMPS,199.420,72.865,741.689,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.529,0.000,0.000,0.000,0.000,0.000,0.000,3686.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,228
$CFSIZE,260231168,256032768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,205244,4739.058,-12253.618,12,1.4,29,18.3