version: 66.02
glider: 117
mission: 4
dive: 104
start: 9 26 107 9 46 36
data:
$ID,117
$MISSION,4
$DIVE,104
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18951.58
$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,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,41
$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
$GPS1,093808,4739.425,-12253.149,39,1.2,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.1
$GPS2,094529,4739.407,-12253.195,15,2.2,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.102
$KALMAN_X,22044.6,-39.3,15.2,-22643.0,-71.7
$KALMAN_Y,10657.6,-110.1,26.3,-11279.7,-224.6
$MHEAD_RNG_PITCHd_Wd,42.5,996,-20.3,-8.889
$D_GRID,118
$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,-97.8,0.0,0.0,0,69,0.00,0.00,-43.12,0.000,2,0.000,0.000,413,2217,2314
$GC,72,-1.68,-97.8,2.0,-2.5,7,152,13.40,2.55,-60.67,0.000,4,0.201,0.070,2525,3588,3602
$GC,173,-1.68,-97.8,6.0,-10.4,23,179,0.00,2.40,0.00,0.000,6,0.000,0.034,2525,2199,3603
$GC,245,-1.68,-97.8,13.3,-10.5,34,251,0.00,2.60,0.00,0.000,4,0.000,0.063,2525,801,3603
$GC,328,-1.68,-97.8,21.9,-10.1,45,336,0.00,2.55,0.00,0.000,6,0.000,0.035,2525,2188,3603
$GC,525,-1.68,-97.8,41.3,-10.0,61,529,0.00,2.55,0.00,0.000,4,0.000,0.058,2526,3602,3604
$GC,623,-1.68,-97.8,52.3,-11.6,68,628,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2199,3604
$GC,825,-1.68,-97.8,74.3,-10.7,84,830,0.00,2.55,0.00,0.000,4,0.000,0.057,2525,3604,3604
$GC,865,-1.68,-97.8,78.7,-11.5,87,869,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2199,3604
$GC,1068,-1.68,-97.8,100.6,-11.3,103,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2198,3604
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1249,-0.38,0.0,119.1,10.3,117,1330,1.45,0.00,77.40,0.680,6,0.107,0.000,2808,2073,3202
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,1.68,97.8,122.0,0.0,124,1414,2.15,0.00,76.00,0.658,6,0.063,0.000,3266,2074,2802
$GC,1602,1.72,130.1,108.1,6.9,146,1632,0.00,2.60,24.35,0.676,4,0.000,0.054,3266,3483,2670
$GC,1712,1.72,130.1,98.7,9.4,154,1716,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2089,2671
$GC,1907,1.73,132.5,81.6,8.7,169,1911,0.00,2.53,0.00,0.000,4,0.000,0.055,3266,3476,2670
$GC,2039,1.73,132.5,69.3,9.4,178,2045,0.00,2.42,0.00,0.000,6,0.000,0.035,3266,2078,2670
$GC,2234,1.73,132.5,52.0,9.1,194,2238,0.00,2.55,0.00,0.000,4,0.000,0.055,3266,3481,2671
$GC,2366,1.73,132.5,39.3,10.1,203,2372,0.00,2.45,0.00,0.000,6,0.000,0.036,3265,2074,2669
$GC,2561,1.73,137.3,21.9,8.6,219,2574,0.00,2.60,5.00,0.719,4,0.000,0.055,3266,3475,2642
$GC,2719,1.75,152.2,8.7,8.0,241,2738,0.00,2.42,11.40,0.668,6,0.000,0.035,3266,2080,2581
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,1.7,1.020740
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2896,133.85,0.581,0,0,1367,450.13
$SM_GC,1.37,0.00,0.00,133.85,0.000,0.000,0.581,412,2218,1367,-11.44,0.51,450.13
$IRIDIUM_FIX,4722.92,-12253.53,260907,121235
$TT8_MAMPS,0.072098
$HUMID,2226
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,93.6,999.0
$24V_AH,23.8,26.169
$10V_AH,10.1,17.058
$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,30.575,40.475,194.150,133.850,0.000,64.386,36.321,145.758,0.500,37.350,3593.650,35.339,492.110,1672.309,450.733,513.154,372.379,33.344,740.539,0.000,470.106,0.000,2.492
$DEVICE_MAMPS,200.954,69.797,719.446,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.594,0.000,0.000,0.000,0.000,0.000,0.000,3631.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,264
$CFSIZE,260231168,254099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,103750,4739.463,-12252.903,9,1.8,9,18.3