version: 66.02
glider: 117
mission: 4
dive: 87
start: 9 25 107 16 7 35
data:
$ID,117
$MISSION,4
$DIVE,87
$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,-18533.074
$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,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,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
$GPS1,155727,4738.909,-12252.291,14,1.7,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.6
$GPS2,160629,4738.934,-12252.209,15,2.4,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.149
$KALMAN_X,22410.4,67.4,27.2,-21899.3,248.3
$KALMAN_Y,12843.4,87.2,-51.8,-14463.8,204.0
$MHEAD_RNG_PITCHd_Wd,297.2,1016,-20.3,-8.889
$D_GRID,128
$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,-1.68,-97.8,0.0,0.0,0,75,0.00,0.00,-48.03,0.000,2,0.000,0.000,410,2110,2423
$GC,78,-1.68,-97.8,2.2,-3.5,8,151,13.35,2.72,-49.17,0.000,4,0.199,0.076,2527,694,3604
$GC,231,-1.68,-97.8,11.8,-10.6,32,238,0.00,2.45,0.00,0.000,6,0.000,0.036,2527,2091,3606
$GC,303,-1.68,-97.8,18.7,-9.4,43,309,0.00,2.55,0.00,0.000,4,0.000,0.055,2527,3502,3605
$GC,387,-1.68,-97.8,27.3,-10.4,51,395,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2103,3606
$GC,583,-1.68,-97.8,46.4,-10.3,67,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2104,3607
$GC,774,-1.68,-97.8,65.0,-10.1,82,778,0.00,2.55,0.00,0.000,4,0.000,0.054,2527,3502,3607
$GC,864,-1.68,-97.8,75.0,-11.2,88,872,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2105,3607
$GC,1063,-1.68,-97.8,95.4,-10.1,104,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2105,3606
$GC,1251,-1.68,-97.8,114.3,-10.1,119,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2105,3607
$STATE,1312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1312,begin apogee
$GC,1317,-0.38,0.0,120.3,9.7,124,1399,1.48,0.00,78.12,0.681,6,0.107,0.000,2812,1999,3202
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1402,1.68,97.8,123.0,0.0,131,1483,2.20,0.00,76.30,0.660,6,0.062,0.000,3266,1999,2803
$GC,1672,1.71,117.9,107.4,7.7,153,1689,0.00,0.00,15.30,0.687,6,0.000,0.000,3266,1999,2721
$GC,1872,1.72,126.4,91.0,8.4,169,1884,0.00,0.00,6.30,0.719,6,0.000,0.000,3266,1999,2686
$GC,2074,1.72,128.3,73.8,8.8,185,2078,0.00,2.55,0.00,0.000,4,0.000,0.053,3266,3396,2685
$GC,2200,1.72,128.3,62.1,9.4,194,2204,0.00,2.55,0.00,0.000,6,0.000,0.036,3266,2001,2685
$GC,2395,1.72,128.3,44.4,9.2,209,2398,0.00,2.55,0.00,0.000,4,0.000,0.053,3266,3399,2685
$GC,2487,1.72,128.3,36.0,9.3,216,2491,0.00,2.47,0.00,0.000,6,0.000,0.036,3267,1992,2684
$GC,2683,1.73,136.5,18.8,8.4,232,2696,0.00,2.60,7.65,0.689,4,0.000,0.053,3266,3400,2644
$STATE,2866,end climb,SURFACE_DEPTH_REACHED
$STATE,2867,begin surface coast
$FINISH,3.3,1.020800
$STATE,2900,end surface coast,CONTROL_FINISHED_OK
$STATE,2900,begin surface
$SM_CCo,2929,151.73,0.588,0,0,1367,450.13
$SM_GC,1.32,0.00,0.00,151.73,0.000,0.000,0.588,411,2089,1367,-11.45,-0.31,450.13
$IRIDIUM_FIX,4722.92,-12256.21,250907,181846
$TT8_MAMPS,0.075166
$HUMID,2228
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.3,24.278
$10V_AH,10.1,15.725
$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,30.650,30.375,183.675,151.725,0.000,64.459,29.127,236.616,0.500,124.510,3592.490,35.725,490.383,1744.380,456.638,491.575,467.312,33.339,726.390,0.000,446.703,0.000,2.491
$DEVICE_MAMPS,198.653,75.933,719.446,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.220,0.000,0.000,0.000,0.000,0.000,0.000,3717.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,265
$CFSIZE,260231168,254693376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,170005,4739.178,-12252.379,15,3.0,34,18.3