version: 66.02
glider: 117
mission: 4
dive: 68
start: 9 24 107 20 13 44
data:
$ID,117
$MISSION,4
$DIVE,68
$D_SURF,5
$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,-18066.924
$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,27
$R_STBD_OVSHOOT,42
$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
$GPS1,195947,4738.539,-12253.035,11,6.9,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-61.9
$GPS2,201238,4738.572,-12252.817,40,1.0,40,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,0.023
$KALMAN_X,18443.0,477.9,194.7,-19273.3,-41.1
$KALMAN_Y,10391.2,334.3,124.5,-13103.9,-135.0
$MHEAD_RNG_PITCHd_Wd,259.8,486,-26.4,-8.889
$D_GRID,137
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.11,-58.1,0.0,0.0,0,70,0.00,0.00,-42.95,0.000,2,0.000,0.000,412,2114,2332
$GC,73,-2.15,-97.8,2.0,-2.8,7,146,12.50,2.67,-50.90,0.000,4,0.193,0.074,2422,709,3603
$GC,167,-2.15,-97.8,6.5,-9.9,22,173,0.00,2.45,0.00,0.000,6,0.000,0.035,2422,2093,3604
$GC,239,-2.15,-97.8,14.4,-13.2,33,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2093,3604
$GC,309,-2.15,-97.8,23.7,-12.9,42,313,0.00,2.53,0.00,0.000,4,0.000,0.054,2422,3498,3604
$GC,374,-2.15,-97.8,32.2,-12.5,47,378,0.00,2.42,0.00,0.000,6,0.000,0.034,2422,2098,3605
$GC,576,-2.15,-97.8,60.5,-14.6,63,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2098,3605
$GC,767,-2.15,-97.8,87.4,-14.0,78,771,0.00,2.55,0.00,0.000,4,0.000,0.054,2422,3498,3605
$GC,852,-2.15,-97.8,100.2,-13.9,84,856,0.00,2.42,0.00,0.000,6,0.000,0.035,2422,2102,3607
$STATE,1015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1015,begin apogee
$GC,1021,-0.38,0.0,121.5,12.6,97,1104,2.03,0.00,77.78,0.673,6,0.116,0.000,2808,1998,3202
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1107,2.15,97.8,125.2,0.0,104,1192,2.58,0.00,75.90,0.655,6,0.059,0.000,3371,1998,2802
$GC,1380,2.15,97.8,105.6,9.7,126,1385,0.00,2.55,0.00,0.000,4,0.000,0.052,3371,3397,2801
$GC,1537,2.15,97.8,90.0,9.3,137,1545,0.00,2.47,0.00,0.000,6,0.000,0.035,3371,2003,2800
$GC,1734,2.15,97.8,72.8,9.3,153,1738,0.00,2.53,0.00,0.000,4,0.000,0.051,3371,3402,2800
$GC,1859,2.15,97.8,61.1,9.1,162,1865,0.00,2.45,0.00,0.000,6,0.000,0.035,3371,1999,2800
$GC,2054,2.15,97.8,43.0,9.4,178,2058,0.00,2.53,0.00,0.000,4,0.000,0.052,3371,3396,2800
$GC,2178,2.15,97.8,30.7,9.2,187,2186,0.00,2.47,0.00,0.000,6,0.000,0.036,3371,1998,2800
$GC,2378,2.17,110.1,15.0,7.6,208,2391,0.00,2.60,8.85,0.685,4,0.000,0.052,3371,3395,2753
$STATE,2521,end climb,SURFACE_DEPTH_REACHED
$STATE,2521,begin surface coast
$FINISH,3.0,1.020669
$STATE,2595,end surface coast,CONTROL_FINISHED_OK
$STATE,2595,begin surface
$SM_CCo,2624,164.57,0.584,0,0,1366,450.13
$SM_GC,1.42,0.00,0.00,164.57,0.000,0.000,0.584,410,2090,1366,-11.45,-0.28,450.13
$IRIDIUM_FIX,4719.74,-12250.06,250907,000025
$TT8_MAMPS,0.070564
$HUMID,2224
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,9.2
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.2,22.204
$10V_AH,10.1,14.205
$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,31.325,35.075,162.525,164.575,0.000,102.006,70.185,319.554,0.750,49.800,3530.200,40.822,455.748,1569.363,445.890,490.155,626.408,33.336,714.847,0.000,439.266,0.000,5.429
$DEVICE_MAMPS,193.284,74.399,684.931,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.673,0.000,0.000,0.000,0.000,0.000,0.000,3580.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,241
$CFSIZE,260231168,255315968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,210102,4738.541,-12253.147,9,1.3,14,18.3