version: 66.02
glider: 117
mission: 4
dive: 92
start: 9 25 107 21 36 35
data:
$ID,117
$MISSION,4
$DIVE,92
$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,-18642.484
$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
$GPS1,212607,4739.441,-12252.510,10,1.6,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.5
$GPS2,213529,4739.420,-12252.515,13,2.4,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.181,0.104
$KALMAN_X,21894.2,50.1,7.5,-21727.5,-243.1
$KALMAN_Y,11862.1,-80.0,-16.1,-12451.3,-205.4
$MHEAD_RNG_PITCHd_Wd,281.6,862,-20.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,82,0.00,0.00,-55.17,0.000,2,0.000,0.000,412,2110,2561
$GC,85,-1.68,-97.8,2.3,-3.6,9,153,13.27,2.50,-47.20,0.000,4,0.198,0.067,2526,3487,3601
$GC,402,-1.68,-97.8,29.2,-11.3,51,410,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2100,3604
$GC,599,-1.68,-97.8,48.4,-9.9,67,603,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3486,3604
$GC,732,-1.68,-97.8,62.3,-10.8,77,736,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2097,3604
$GC,926,-1.68,-97.8,82.0,-9.6,92,931,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3488,3604
$GC,992,-1.68,-97.8,88.3,-10.1,97,996,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2101,3604
$GC,1194,-1.68,-97.8,107.1,-9.9,113,1198,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3487,3605
$GC,1233,-1.68,-97.8,111.1,-10.3,116,1237,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2100,3604
$STATE,1320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1325,-0.38,0.0,120.9,11.2,123,1407,1.48,0.00,76.97,0.679,6,0.105,0.000,2814,1997,3202
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1410,1.68,97.8,123.9,0.0,130,1496,2.10,2.58,75.47,0.659,4,0.062,0.051,3271,3387,2803
$GC,1535,1.73,132.0,119.3,6.8,140,1567,0.00,2.45,25.92,0.667,6,0.000,0.036,3271,1998,2664
$GC,1755,1.73,132.2,100.1,8.9,157,1759,0.00,2.67,0.00,0.000,4,0.000,0.071,3271,597,2663
$GC,1814,1.73,132.2,94.5,9.6,161,1818,0.00,2.47,0.00,0.000,6,0.000,0.036,3271,1992,2663
$GC,2016,1.73,132.2,76.1,9.0,177,2020,0.00,2.55,0.00,0.000,4,0.000,0.055,3271,3402,2663
$GC,2166,1.73,132.2,62.3,9.2,188,2174,0.00,2.50,0.00,0.000,6,0.000,0.036,3271,1997,2662
$GC,2363,1.73,132.2,44.2,9.6,204,2366,0.00,2.55,0.00,0.000,4,0.000,0.053,3271,3395,2662
$GC,2408,1.73,132.2,39.6,10.5,207,2415,0.00,2.47,0.00,0.000,6,0.000,0.036,3271,2004,2662
$GC,2604,1.73,132.2,22.2,9.3,223,2607,0.00,2.55,0.00,0.000,4,0.000,0.053,3271,3395,2662
$GC,2775,1.76,156.9,6.4,7.4,247,2800,0.00,2.45,18.77,0.650,6,0.000,0.036,3271,1999,2562
$STATE,2804,end climb,SURFACE_DEPTH_REACHED
$STATE,2804,begin surface coast
$FINISH,2.5,1.020854
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2919,131.85,0.584,0,0,1367,450.13
$SM_GC,1.34,0.00,0.00,131.85,0.000,0.000,0.584,413,2111,1367,-11.44,0.31,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,000052
$TT8_MAMPS,0.070564
$HUMID,2220
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.8,24.893
$10V_AH,10.1,16.140
$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,30.500,45.325,197.150,131.850,0.000,63.903,29.844,255.353,0.250,103.753,3646.247,33.065,501.068,1669.927,439.223,540.408,490.029,33.336,748.530,0.000,495.381,0.000,2.491
$DEVICE_MAMPS,197.886,70.564,678.795,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.193,0.000,0.000,0.000,0.000,0.000,0.000,3750.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,265
$CFSIZE,260231168,254504960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,222829,4739.500,-12252.878,9,4.2,28,18.3