version: 66.02
glider: 117
mission: 4
dive: 122
start: 9 27 107 3 9 16
data:
$ID,117
$MISSION,4
$DIVE,122
$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,500
$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,-19380.861
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,030145,4739.432,-12252.552,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.4
$GPS2,030809,4739.448,-12252.551,12,1.4,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.058
$KALMAN_X,22017.0,-110.1,-101.1,-21627.1,166.6
$KALMAN_Y,9988.3,-160.6,-42.3,-10417.5,173.7
$MHEAD_RNG_PITCHd_Wd,235.5,813,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,75,0.00,0.00,-49.12,0.000,2,0.000,0.000,414,2210,2442
$GC,78,-1.68,-97.8,2.3,-3.4,8,145,13.38,2.67,-44.20,0.000,4,0.199,0.071,2527,797,3603
$GC,304,-1.68,-97.8,22.0,-11.7,42,310,0.00,2.45,0.00,0.000,6,0.000,0.036,2527,2192,3605
$GC,499,-1.68,-97.8,41.4,-9.9,58,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2192,3605
$GC,689,-1.68,-97.8,60.7,-10.3,73,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2192,3605
$GC,879,-1.68,-97.8,80.8,-10.5,88,883,0.00,2.60,0.00,0.000,4,0.000,0.063,2527,800,3605
$GC,911,-1.68,-97.8,84.1,-10.7,90,915,0.00,2.47,0.00,0.000,6,0.000,0.036,2527,2204,3605
$GC,1113,-1.68,-97.8,103.9,-9.6,106,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2204,3605
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1294,-0.38,0.0,120.1,9.5,120,1376,1.48,0.00,77.72,0.676,6,0.104,0.000,2815,2066,3202
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.68,97.8,122.7,0.0,127,1461,2.12,0.00,76.22,0.656,6,0.062,0.000,3268,2066,2803
$GC,1648,1.70,107.6,106.0,8.3,149,1660,0.00,0.00,7.32,0.715,6,0.000,0.000,3269,2066,2762
$GC,1849,1.73,132.2,89.8,7.4,165,1874,0.00,2.60,18.73,0.675,4,0.000,0.056,3268,3476,2662
$GC,1984,1.73,132.2,77.9,9.7,175,1992,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2098,2661
$GC,2181,1.73,132.2,60.4,9.2,191,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2098,2661
$GC,2372,1.73,132.2,42.4,9.7,206,2376,0.00,2.50,0.00,0.000,4,0.000,0.055,3268,3479,2660
$GC,2457,1.73,132.2,33.6,10.2,212,2461,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2076,2660
$GC,2655,1.74,141.1,15.9,8.3,231,2667,0.00,0.00,6.47,0.697,6,0.000,0.000,3268,2076,2625
$GC,2734,1.77,167.0,9.8,7.3,243,2758,0.00,0.00,19.48,0.640,6,0.000,0.000,3268,2076,2521
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,2.7,1.020550
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2870,154.02,0.579,0,0,1163,500.17
$SM_GC,1.38,0.00,0.00,154.02,0.000,0.000,0.579,413,2214,1163,-11.44,0.42,500.17
$IRIDIUM_FIX,4722.92,-12251.79,270907,060615
$TT8_MAMPS,0.072098
$HUMID,2209
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,27.743
$10V_AH,10.1,18.356
$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,30.575,20.550,205.950,154.025,0.000,60.927,29.302,125.579,0.250,4.150,3496.850,12.355,473.554,1718.525,458.633,452.584,333.869,33.359,726.232,0.000,431.078,0.000,2.490
$DEVICE_MAMPS,199.420,71.331,714.844,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.794,0.000,0.000,0.000,0.000,0.000,0.000,3501.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6471,260
$CFSIZE,260231168,253542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,040047,4739.413,-12252.833,13,5.4,32,18.3