version: 66.02
glider: 117
mission: 4
dive: 119
start: 9 27 107 0 30 40
data:
$ID,117
$MISSION,4
$DIVE,119
$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,-19324.105
$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,27
$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
$GPS1,002214,4739.500,-12252.556,11,1.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.5
$GPS2,002933,4739.483,-12252.610,15,1.9,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,0.005
$KALMAN_X,21731.6,-65.5,-164.7,-21391.6,-47.7
$KALMAN_Y,9735.8,-129.4,-236.0,-9938.0,-39.6
$MHEAD_RNG_PITCHd_Wd,69.8,262,-27.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.20,-53.0,0.0,0.0,0,75,0.00,0.00,-49.10,0.000,2,0.000,0.000,413,2215,2455
$GC,78,-2.25,-97.8,2.3,-3.8,8,139,12.62,0.00,-44.47,0.000,6,0.202,0.000,2400,2216,3603
$GC,205,-2.25,-97.8,12.6,-13.4,28,211,0.00,2.67,0.00,0.000,4,0.000,0.061,2401,799,3605
$GC,270,-2.25,-97.8,21.8,-13.2,37,274,0.00,2.45,0.00,0.000,6,0.000,0.036,2400,2194,3606
$GC,472,-2.25,-97.8,49.7,-14.1,53,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2194,3606
$GC,662,-2.25,-97.8,77.1,-14.3,68,666,0.00,2.53,0.00,0.000,4,0.000,0.058,2400,3597,3606
$GC,707,-2.25,-97.8,84.2,-15.6,71,711,0.00,2.42,0.00,0.000,6,0.000,0.035,2400,2201,3606
$GC,909,-2.25,-97.8,114.4,-14.9,87,913,0.00,2.53,0.00,0.000,4,0.000,0.057,2401,3597,3607
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,956,-0.38,0.0,120.2,14.8,90,1039,2.15,0.00,78.25,0.669,6,0.124,0.000,2810,2083,3202
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1040,begin climb
$GC,1043,2.25,97.8,124.2,0.0,97,1129,2.70,2.70,75.95,0.657,4,0.061,0.064,3394,676,2802
$GC,1135,2.28,117.2,120.9,6.7,104,1154,0.00,2.53,14.57,0.667,6,0.000,0.036,3394,2087,2724
$GC,1342,2.28,117.2,98.2,12.1,121,1346,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,3476,2722
$GC,1598,2.28,117.2,66.0,12.9,140,1606,0.00,2.47,0.00,0.000,6,0.000,0.036,3394,2076,2721
$GC,1795,2.28,117.2,42.6,11.5,156,1799,0.00,2.55,0.00,0.000,4,0.000,0.054,3393,3482,2721
$GC,1879,2.28,117.2,31.9,11.8,162,1887,0.00,2.47,0.00,0.000,6,0.000,0.036,3394,2089,2721
$GC,2080,2.28,120.2,11.2,8.6,185,2088,0.00,2.50,1.88,0.769,4,0.000,0.057,3394,3482,2711
$GC,2121,2.29,125.7,7.7,8.3,191,2134,0.00,2.45,4.18,0.707,6,0.000,0.035,3393,2075,2689
$STATE,2164,end climb,SURFACE_DEPTH_REACHED
$STATE,2164,begin surface coast
$FINISH,3.9,1.021726
$STATE,2271,end surface coast,CONTROL_FINISHED_OK
$STATE,2271,begin surface
$SM_CCo,2299,158.68,0.578,0,0,1367,450.13
$SM_GC,1.38,0.00,0.00,158.68,0.000,0.000,0.578,413,2214,1367,-11.44,0.42,450.13
$IRIDIUM_FIX,4722.92,-12256.21,270907,030351
$TT8_MAMPS,0.073632
$HUMID,2208
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.7,999.0
$24V_AH,23.7,27.487
$10V_AH,10.1,18.148
$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,31.800,35.675,174.825,158.675,0.000,60.513,39.646,165.171,0.500,33.210,2977.790,16.210,411.017,1280.134,439.186,418.050,377.053,33.341,692.195,0.000,393.689,0.000,2.489
$DEVICE_MAMPS,201.721,64.428,769.301,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.733,0.000,0.000,0.000,0.000,0.000,0.000,3011.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,214
$CFSIZE,260231168,253632512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,011221,4739.536,-12252.299,9,1.8,9,18.3