version: 66.02
glider: 117
mission: 4
dive: 90
start: 9 25 107 19 26 42
data:
$ID,117
$MISSION,4
$DIVE,90
$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,602.45679
$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,-18595.348
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,190608,4739.381,-12252.568,9,1.6,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.2
$GPS2,192535,4739.264,-12252.706,12,3.5,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.164
$KALMAN_X,22138.0,121.8,216.1,-22481.1,-135.4
$KALMAN_Y,12081.0,51.2,166.3,-13263.7,-231.7
$MHEAD_RNG_PITCHd_Wd,19.9,534,-20.3,-8.889
$D_GRID,126
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,81,0.00,0.00,-55.15,0.000,2,0.000,0.000,410,2087,2567
$GC,84,-1.68,-97.8,2.1,-3.1,9,151,13.07,0.00,-47.05,0.000,6,0.191,0.000,2526,2088,3600
$GC,216,-1.68,-97.8,9.8,-10.5,30,223,0.00,2.60,0.00,0.000,4,0.000,0.065,2526,700,3602
$GC,281,-1.68,-97.8,16.1,-9.6,40,288,0.00,2.47,0.00,0.000,6,0.000,0.036,2526,2094,3603
$GC,352,-1.68,-97.8,22.6,-8.9,49,357,0.00,2.53,0.00,0.000,4,0.000,0.055,2526,3498,3603
$GC,390,-1.68,-97.8,26.4,-9.8,51,398,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2100,3603
$GC,587,-1.68,-97.8,45.9,-10.2,67,591,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3499,3604
$GC,667,-1.68,-97.8,53.9,-9.8,73,671,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2101,3604
$GC,862,-1.68,-97.8,73.5,-10.4,88,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2101,3604
$GC,1053,-1.68,-97.8,93.3,-10.5,103,1057,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3495,3604
$GC,1098,-1.68,-97.8,98.2,-10.5,106,1102,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2101,3604
$GC,1300,-1.68,-97.8,118.1,-9.7,122,1304,0.00,2.70,0.00,0.000,4,0.000,0.070,2526,703,3604
$STATE,1317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1317,begin apogee
$GC,1324,-0.38,0.0,120.1,10.4,123,1406,1.45,0.00,77.60,0.676,6,0.104,0.000,2812,1997,3202
$STATE,1407,end apogee,CONTROL_FINISHED_OK
$STATE,1407,begin climb
$GC,1409,1.68,97.8,123.0,0.0,130,1493,2.12,2.60,76.40,0.657,4,0.061,0.053,3264,3403,2804
$GC,1551,1.72,128.0,116.4,7.0,141,1584,0.00,2.50,23.25,0.663,6,0.000,0.036,3264,2008,2680
$GC,1772,1.72,128.0,96.7,9.3,159,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2008,2677
$GC,1963,1.72,128.0,78.4,9.7,174,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2008,2677
$GC,2152,1.72,128.0,60.4,9.4,189,2156,0.00,2.55,0.00,0.000,4,0.000,0.053,3264,3408,2676
$GC,2401,1.73,134.9,36.4,8.5,207,2413,0.00,2.50,4.53,0.716,6,0.000,0.036,3265,2005,2652
$GC,2604,1.75,147.4,19.0,8.1,224,2623,0.00,2.60,9.55,0.672,4,0.000,0.052,3264,3393,2601
$STATE,2773,end climb,SURFACE_DEPTH_REACHED
$STATE,2773,begin surface coast
$FINISH,2.9,1.020900
$STATE,2800,end surface coast,CONTROL_FINISHED_OK
$STATE,2800,begin surface
$SM_CCo,2828,226.88,0.570,0,0,746,602.46
$SM_GC,1.30,0.00,0.00,226.88,0.000,0.000,0.570,411,2085,746,-11.45,-0.42,602.46
$IRIDIUM_FIX,4722.92,-12253.53,250907,232327
$TT8_MAMPS,0.071331
$HUMID,2175
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,24.661
$10V_AH,10.1,15.975
$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,30.250,40.025,191.325,226.875,0.000,181.259,195.893,378.061,0.250,91.322,4172.678,32.258,476.160,1822.876,541.967,496.000,913.579,33.346,823.916,0.000,453.298,0.000,2.493
$DEVICE_MAMPS,190.983,69.797,716.378,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.069,0.000,0.000,0.000,0.000,0.000,0.000,4264.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,254
$CFSIZE,260231168,254570496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,201837,4739.373,-12252.640,10,1.7,26,18.3