version: 66.02
glider: 117
mission: 4
dive: 94
start: 9 25 107 23 52 29
data:
$ID,117
$MISSION,4
$DIVE,94
$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,-18674.334
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,233207,4739.450,-12253.166,31,1.5,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-59.7
$GPS2,235121,4739.366,-12253.130,15,1.8,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,0.137
$KALMAN_X,22202.6,-26.6,-190.7,-22529.5,48.0
$KALMAN_Y,11629.7,-192.6,-179.3,-12036.5,-84.0
$MHEAD_RNG_PITCHd_Wd,314.8,207,-27.7,-8.889
$D_GRID,119
$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,-2.20,-53.0,0.0,0.0,0,112,0.00,0.00,-85.03,0.000,2,0.000,0.000,410,2088,2525
$GC,114,-2.25,-97.8,2.2,-2.8,14,182,12.55,2.62,-46.22,0.000,4,0.199,0.075,2401,707,3601
$GC,268,-2.25,-97.8,17.9,-15.1,38,275,0.00,2.47,0.00,0.000,6,0.000,0.036,2402,2111,3603
$GC,338,-2.25,-97.8,27.1,-12.7,45,342,0.00,2.50,0.00,0.000,4,0.000,0.054,2401,3503,3604
$GC,473,-2.25,-97.8,45.4,-14.4,55,477,0.00,2.45,0.00,0.000,6,0.000,0.035,2401,2094,3604
$GC,667,-2.25,-97.8,75.3,-16.4,70,671,0.00,2.58,0.00,0.000,4,0.000,0.054,2401,3505,3605
$GC,699,-2.25,-97.8,80.6,-16.5,72,706,0.00,2.47,0.00,0.000,6,0.000,0.035,2402,2102,3604
$GC,895,-2.25,-97.8,109.6,-14.4,88,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2102,3604
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,974,-0.38,0.0,120.6,14.7,94,1056,2.17,0.00,74.05,0.667,6,0.121,0.000,2811,1999,3202
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1059,2.25,97.8,123.8,0.0,101,1145,2.65,2.65,76.93,0.650,4,0.059,0.054,3390,3395,2803
$GC,1203,2.25,97.8,114.8,10.2,112,1211,0.00,2.47,0.00,0.000,6,0.000,0.035,3390,2006,2804
$GC,1400,2.25,98.6,96.6,8.8,128,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2006,2804
$GC,1590,2.25,98.6,78.4,9.9,143,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2006,2804
$GC,1779,2.25,99.5,60.7,8.8,158,1784,0.00,2.53,0.00,0.000,4,0.000,0.053,3390,3395,2803
$GC,1853,2.25,99.5,54.0,9.4,163,1857,0.00,2.45,0.00,0.000,6,0.000,0.036,3390,2000,2802
$GC,2048,2.25,99.5,34.5,10.5,178,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2000,2802
$GC,2241,2.28,117.1,16.8,6.9,196,2260,0.00,2.65,14.38,0.653,4,0.000,0.054,3390,3402,2724
$STATE,2444,end climb,SURFACE_DEPTH_REACHED
$STATE,2444,begin surface coast
$FINISH,5.8,1.022117
$STATE,2774,end surface coast,CONTROL_FINISHED_OK
$STATE,2774,begin surface
$SM_CCo,2782,246.90,0.567,0,0,746,602.46
$SM_GC,1.27,13.50,0.00,0.00,0.041,0.000,0.000,410,2090,742,-11.41,-0.25,603.44
$IRIDIUM_FIX,4722.92,-12256.21,260907,030340
$TT8_MAMPS,0.071331
$HUMID,2239
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.1,25.167
$10V_AH,10.1,16.312
$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,30.875,30.325,165.350,246.900,0.000,142.061,101.526,589.959,0.500,99.600,4343.400,15.466,500.966,1809.559,545.097,490.504,980.151,33.332,829.717,0.000,464.875,0.000,2.489
$DEVICE_MAMPS,198.653,75.166,666.523,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.509,0.000,0.000,0.000,0.000,0.000,0.000,4443.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,277
$CFSIZE,260231168,254431232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,004556,4739.519,-12253.352,15,1.7,32,18.3