version: 66.02
glider: 117
mission: 4
dive: 120
start: 9 27 107 1 20 50
data:
$ID,117
$MISSION,4
$DIVE,120
$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,-19356.023
$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
$GPS1,011221,4739.536,-12252.299,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.4
$GPS2,011944,4739.558,-12252.312,14,1.8,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,-0.146
$KALMAN_X,21696.4,-81.4,-159.0,-20975.9,-37.5
$KALMAN_Y,9843.1,-154.7,-212.0,-9907.8,61.5
$MHEAD_RNG_PITCHd_Wd,180.0,202,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,77,0.00,0.00,-49.88,0.000,2,0.000,0.000,413,2215,2452
$GC,80,-2.25,-97.8,2.0,-2.1,8,153,12.62,2.65,-52.33,0.000,4,0.201,0.072,2400,798,3603
$GC,167,-2.25,-97.8,6.6,-14.8,22,174,0.00,2.45,0.00,0.000,6,0.000,0.035,2400,2194,3605
$GC,239,-2.25,-97.8,16.6,-13.8,33,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2194,3605
$GC,309,-2.25,-97.8,25.8,-13.4,41,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2194,3607
$GC,502,-2.25,-97.8,51.9,-14.2,56,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2194,3606
$GC,689,-2.25,-97.8,79.2,-14.2,71,693,0.00,2.53,0.00,0.000,4,0.000,0.058,2400,3597,3606
$GC,748,-2.25,-97.8,88.0,-15.3,75,752,0.00,2.42,0.00,0.000,6,0.000,0.035,2400,2197,3607
$GC,949,-2.25,-97.8,116.3,-13.7,91,953,0.00,2.53,0.00,0.000,4,0.000,0.056,2401,3597,3607
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,988,-0.38,0.0,120.7,13.6,93,1072,2.15,0.00,77.97,0.669,6,0.124,0.000,2810,2081,3202
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1075,2.25,97.8,124.0,0.0,100,1161,2.70,2.70,76.43,0.650,4,0.060,0.064,3393,672,2802
$GC,1252,2.25,97.8,110.0,12.0,114,1257,0.00,2.50,0.00,0.000,6,0.000,0.036,3393,2077,2801
$GC,1455,2.25,97.8,89.1,9.8,130,1459,0.00,2.58,0.00,0.000,4,0.000,0.059,3393,3478,2801
$GC,1704,2.25,97.8,63.5,10.2,148,1712,0.00,2.47,0.00,0.000,6,0.000,0.035,3393,2079,2800
$GC,1901,2.25,97.8,44.6,10.1,164,1905,0.00,2.53,0.00,0.000,4,0.000,0.055,3394,3478,2800
$GC,2021,2.25,97.8,32.3,10.2,173,2025,0.00,2.45,0.00,0.000,6,0.000,0.036,3393,2075,2800
$GC,2218,2.25,97.8,14.3,8.9,192,2225,0.00,2.62,0.00,0.000,4,0.000,0.064,3394,675,2800
$GC,2317,2.30,133.2,7.0,4.9,207,2349,0.00,2.47,26.62,0.629,6,0.000,0.035,3393,2084,2657
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,3.1,1.021077
$STATE,2453,end surface coast,CONTROL_FINISHED_OK
$STATE,2453,begin surface
$SM_CCo,2481,146.95,0.575,0,0,1367,450.13
$SM_GC,1.34,0.00,0.00,146.95,0.000,0.000,0.575,411,2212,1367,-11.44,0.34,450.13
$IRIDIUM_FIX,4719.74,-12251.79,270907,040431
$TT8_MAMPS,0.071331
$HUMID,2193
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,27.574
$10V_AH,10.1,18.215
$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,31.825,35.750,181.025,146.950,0.000,63.655,33.434,156.876,0.250,37.350,3151.650,31.292,435.503,1390.495,445.257,458.849,369.650,33.343,709.292,0.000,419.693,0.000,2.488
$DEVICE_MAMPS,200.954,72.098,668.824,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.533,0.000,0.000,0.000,0.000,0.000,0.000,3189.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,228
$CFSIZE,260231168,253599744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,020555,4739.413,-12252.287,26,1.4,43,18.3