version: 66.02
glider: 117
mission: 4
dive: 89
start: 9 25 107 18 16 10
data:
$ID,117
$MISSION,4
$DIVE,89
$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,-18562.463
$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,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,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
$GPS1,180245,4739.326,-12252.576,10,1.3,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.0
$GPS2,181503,4739.240,-12252.604,14,1.2,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,0.170
$KALMAN_X,22423.2,122.4,211.7,-22636.8,49.1
$KALMAN_Y,12444.5,79.8,147.1,-13680.3,-46.5
$MHEAD_RNG_PITCHd_Wd,5.1,489,-23.1,-8.889
$D_GRID,124
$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,-1.87,-76.1,0.0,0.0,0,81,0.00,0.00,-53.80,0.000,2,0.000,0.000,413,2082,2520
$GC,84,-1.90,-97.8,2.2,-3.2,9,151,13.02,2.62,-45.90,0.000,4,0.197,0.076,2480,696,3603
$GC,223,-1.90,-97.8,12.3,-11.6,31,230,0.00,2.50,0.00,0.000,6,0.000,0.037,2480,2106,3605
$GC,295,-1.90,-97.8,19.8,-10.7,42,302,0.00,2.53,0.00,0.000,4,0.000,0.056,2480,3499,3605
$GC,366,-1.90,-97.8,27.8,-11.6,48,374,0.00,2.47,0.00,0.000,6,0.000,0.035,2480,2102,3605
$GC,563,-1.90,-97.8,49.6,-11.2,64,567,0.00,2.53,0.00,0.000,4,0.000,0.054,2480,3502,3606
$GC,628,-1.90,-97.8,57.3,-12.1,69,632,0.00,2.45,0.00,0.000,6,0.000,0.035,2480,2098,3606
$GC,830,-1.90,-97.8,80.7,-11.5,85,834,0.00,2.58,0.00,0.000,4,0.000,0.055,2480,3503,3606
$GC,869,-1.90,-97.8,85.4,-12.2,88,873,0.00,2.45,0.00,0.000,6,0.000,0.035,2480,2101,3606
$GC,1071,-1.90,-97.8,108.7,-11.8,104,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2101,3606
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1176,-0.38,0.0,120.3,11.5,112,1258,1.75,0.00,78.18,0.676,6,0.111,0.000,2814,1999,3202
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1261,1.90,97.8,123.0,0.0,119,1346,2.33,2.70,76.78,0.655,4,0.061,0.067,3313,602,2803
$GC,1420,1.90,98.4,113.9,8.8,132,1424,0.00,2.50,0.00,0.000,6,0.000,0.036,3313,2008,2801
$GC,1615,1.90,98.4,96.7,9.2,147,1619,0.00,2.53,0.00,0.000,4,0.000,0.057,3313,3393,2800
$GC,1681,1.90,98.4,90.5,9.6,152,1685,0.00,2.45,0.00,0.000,6,0.000,0.037,3313,1996,2800
$GC,1883,1.91,106.2,73.3,8.3,168,1896,0.00,2.58,5.93,0.715,4,0.000,0.054,3313,3396,2769
$GC,1953,1.91,106.2,67.1,9.0,173,1961,0.00,2.50,0.00,0.000,6,0.000,0.036,3313,2002,2768
$GC,2150,1.91,108.0,50.2,8.7,189,2154,0.00,2.53,0.00,0.000,4,0.000,0.053,3313,3392,2768
$GC,2302,1.91,111.9,36.8,8.6,200,2315,0.00,2.45,4.43,0.728,6,0.000,0.037,3313,1994,2745
$GC,2503,1.93,121.5,19.5,8.1,216,2516,0.00,2.58,6.95,0.696,4,0.000,0.053,3313,3399,2706
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,3.5,1.021104
$STATE,2766,end surface coast,CONTROL_FINISHED_OK
$STATE,2766,begin surface
$SM_CCo,2795,154.73,0.584,0,0,1367,450.13
$SM_GC,1.51,0.00,0.00,154.73,0.000,0.000,0.584,410,2086,1367,-11.45,-0.40,450.13
$IRIDIUM_FIX,4722.92,-12249.11,250907,222223
$TT8_MAMPS,0.071331
$HUMID,2212
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.2,24.518
$10V_AH,10.1,15.884
$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,31.025,45.375,172.250,154.725,0.000,102.403,59.115,318.628,0.500,103.771,3670.229,14.498,484.499,1674.680,452.616,482.572,622.305,33.343,737.170,0.000,458.908,0.000,2.491
$DEVICE_MAMPS,197.119,75.933,727.883,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.735,0.000,0.000,0.000,0.000,0.000,0.000,3774.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,256
$CFSIZE,260231168,254615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,190608,4739.381,-12252.568,9,1.6,14,18.3