version: 66.02
glider: 117
mission: 4
dive: 127
start: 9 27 107 8 3 46
data:
$ID,117
$MISSION,4
$DIVE,127
$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,-19500.41
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,075409,4739.356,-12252.970,12,1.6,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.5
$GPS2,080239,4739.379,-12252.970,11,1.4,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.115
$KALMAN_X,21889.6,-27.5,149.0,-22351.5,-77.8
$KALMAN_Y,9775.5,-56.0,159.2,-10634.7,-79.0
$MHEAD_RNG_PITCHd_Wd,299.9,332,-27.7,-8.889
$D_GRID,116
$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,-53.0,0.0,0.0,0,88,0.00,0.00,-60.97,0.000,2,0.000,0.000,409,2185,2481
$GC,91,-2.25,-97.8,2.2,-3.3,10,164,12.62,2.60,-51.17,0.000,4,0.199,0.074,2403,812,3604
$GC,337,-2.25,-97.8,29.7,-15.2,44,341,0.00,2.42,0.00,0.000,6,0.000,0.036,2403,2199,3606
$GC,539,-2.25,-97.8,58.1,-14.3,60,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2199,3607
$GC,730,-2.25,-97.8,86.1,-15.2,75,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2199,3606
$GC,919,-2.25,-97.8,113.9,-14.2,90,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2199,3606
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,946,-0.38,0.0,117.5,14.3,92,1029,2.15,0.00,77.93,0.668,6,0.119,0.000,2812,2075,3202
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1032,2.25,97.8,120.9,0.0,99,1118,2.67,2.65,76.55,0.649,4,0.058,0.064,3387,691,2802
$GC,1157,2.25,97.8,114.4,9.2,109,1161,0.00,2.47,0.00,0.000,6,0.000,0.036,3387,2082,2801
$GC,1359,2.25,97.8,94.6,9.4,125,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2082,2800
$GC,1549,2.25,97.8,76.5,9.6,140,1554,0.00,2.62,0.00,0.000,4,0.000,0.064,3387,683,2800
$GC,1574,2.25,97.8,73.8,10.2,141,1581,0.00,2.50,0.00,0.000,6,0.000,0.037,3387,2078,2800
$GC,1770,2.25,97.8,54.7,9.9,157,1774,0.00,2.55,0.00,0.000,4,0.000,0.060,3387,3476,2801
$GC,1841,2.25,97.8,47.3,10.5,162,1849,0.00,2.45,0.00,0.000,6,0.000,0.035,3387,2089,2800
$GC,2037,2.25,97.8,27.7,9.9,178,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2089,2800
$GC,2232,2.27,109.5,11.2,7.6,201,2246,0.00,2.58,8.27,0.683,4,0.000,0.056,3387,3477,2755
$GC,2497,2.36,182.9,5.9,0.6,241,2541,0.12,2.45,38.72,0.622,2,0.063,0.035,3418,2071,2535
$STATE,2542,end climb,SURFACE_DEPTH_REACHED
$STATE,2542,begin surface coast
$FINISH,1.5,1.021289
$STATE,2620,end surface coast,CONTROL_FINISHED_OK
$STATE,2620,begin surface
$SM_CCo,2648,153.65,0.568,0,0,1162,500.17
$SM_GC,1.32,0.00,0.00,153.65,0.000,0.000,0.568,411,2215,1162,-11.45,0.42,500.17
$IRIDIUM_FIX,4719.74,-12254.47,270907,101018
$TT8_MAMPS,0.071331
$HUMID,2207
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.7,999.0
$24V_AH,23.6,28.160
$10V_AH,10.1,18.717
$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,32.000,25.675,201.475,153.650,0.000,95.774,66.213,117.799,0.250,8.300,3430.700,11.883,465.242,1567.813,466.282,443.994,397.200,33.354,731.276,0.000,424.670,0.000,2.488
$DEVICE_MAMPS,199.420,74.399,682.630,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.051,0.000,0.000,0.000,0.000,0.000,0.000,3439.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,260
$CFSIZE,260231168,253386752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,085135,4739.363,-12253.320,13,2.7,32,18.3