version: 66.02
glider: 117
mission: 4
dive: 72
start: 9 25 107 0 3 58
data:
$ID,117
$MISSION,4
$DIVE,72
$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,-18150.453
$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,41
$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,0
$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
$GPS1,235345,4739.165,-12252.723,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.2
$GPS2,000250,4739.209,-12252.664,9,1.8,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,-0.166
$KALMAN_X,19685.0,273.9,-49.9,-19870.6,104.9
$KALMAN_Y,10955.2,110.6,-179.7,-11964.5,65.9
$MHEAD_RNG_PITCHd_Wd,186.8,402,-23.3,-8.889
$D_GRID,125
$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,-1.88,-74.9,0.0,0.0,0,76,0.00,0.00,-49.05,0.000,2,0.000,0.000,412,2109,2444
$GC,79,-1.91,-97.8,2.0,-2.6,8,152,12.88,0.00,-54.72,0.000,6,0.195,0.000,2476,2111,3602
$GC,217,-1.91,-97.8,9.4,-9.7,30,224,0.00,2.50,0.00,0.000,4,0.000,0.055,2476,3492,3604
$GC,276,-1.91,-97.8,16.4,-12.3,39,283,0.00,2.42,0.00,0.000,6,0.000,0.035,2476,2099,3604
$GC,346,-1.91,-97.8,24.7,-11.7,47,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2099,3605
$GC,538,-1.91,-97.8,46.4,-11.7,62,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2099,3605
$GC,726,-1.91,-97.8,69.0,-12.1,77,730,0.00,2.53,0.00,0.000,4,0.000,0.054,2476,3487,3605
$GC,776,-1.91,-97.8,75.6,-12.6,80,784,0.00,2.45,0.00,0.000,6,0.000,0.035,2476,2098,3605
$GC,973,-1.91,-97.8,98.5,-11.6,96,977,0.00,2.53,0.00,0.000,4,0.000,0.054,2476,3493,3605
$GC,1014,-1.91,-97.8,103.4,-12.9,99,1018,0.00,2.42,0.00,0.000,6,0.000,0.035,2476,2100,3605
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1175,-0.38,0.0,121.3,11.1,111,1258,1.73,0.00,77.80,0.676,6,0.112,0.000,2810,1996,3202
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1261,1.91,97.8,123.8,0.0,118,1346,2.35,0.00,75.97,0.657,6,0.061,0.000,3321,1996,2802
$GC,1535,1.93,109.1,105.6,8.0,140,1548,0.00,2.60,8.30,0.704,4,0.000,0.052,3321,3386,2757
$GC,1680,1.93,109.1,91.5,9.4,151,1684,0.00,2.42,0.00,0.000,6,0.000,0.036,3320,2003,2756
$GC,1882,1.93,109.1,72.6,9.1,167,1886,0.00,2.53,0.00,0.000,4,0.000,0.052,3321,3388,2756
$GC,1980,1.93,109.1,63.2,9.1,174,1987,0.00,2.47,0.00,0.000,6,0.000,0.035,3321,2004,2755
$GC,2176,1.93,109.1,45.5,9.0,190,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2003,2755
$GC,2368,1.93,109.1,28.3,9.0,205,2373,0.00,2.50,0.00,0.000,4,0.000,0.053,3321,3386,2755
$GC,2446,1.94,119.0,21.3,8.1,210,2458,0.00,2.45,7.43,0.686,6,0.000,0.036,3321,2000,2716
$GC,2658,1.99,163.9,5.5,5.3,240,2671,0.00,0.00,11.05,0.670,2,0.000,0.000,3321,2000,2656
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,3.9,1.021276
$STATE,2783,end surface coast,CONTROL_FINISHED_OK
$STATE,2783,begin surface
$SM_CCo,2810,147.73,0.583,0,0,1367,450.13
$SM_GC,1.32,0.00,0.00,147.73,0.000,0.000,0.583,411,2099,1367,-11.45,-0.03,450.13
$IRIDIUM_FIX,4722.92,-12256.21,250907,030307
$TT8_MAMPS,0.071331
$HUMID,2244
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.5,22.605
$10V_AH,10.1,14.498
$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,30.925,30.100,180.550,147.725,0.000,62.964,38.388,260.390,0.250,62.260,3561.740,14.579,487.533,1634.049,441.824,476.124,494.786,33.334,722.334,0.000,452.070,0.000,3.647
$DEVICE_MAMPS,194.818,63.661,704.106,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.680,0.000,0.000,0.000,0.000,0.000,0.000,3624.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,259
$CFSIZE,260231168,255188992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,005423,4739.058,-12252.652,12,2.4,31,18.3