version: 66.02
glider: 117
mission: 4
dive: 128
start: 9 27 107 8 59 35
data:
$ID,117
$MISSION,4
$DIVE,128
$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,-19512.789
$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,42
$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
$GPS1,085135,4739.363,-12253.320,13,2.7,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.0
$GPS2,085827,4739.364,-12253.307,11,1.6,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,0.138
$KALMAN_X,21803.9,-25.5,88.2,-22626.2,-101.9
$KALMAN_Y,9525.7,-33.9,83.9,-10358.8,-182.9
$MHEAD_RNG_PITCHd_Wd,13.7,231,-26.3,-8.889
$D_GRID,119
$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,-2.09,-58.8,0.0,0.0,0,81,0.00,0.00,-55.08,0.000,2,0.000,0.000,411,2215,2364
$GC,84,-2.14,-97.8,2.0,-3.0,9,165,12.65,2.67,-57.35,0.000,4,0.195,0.073,2426,801,3604
$GC,414,-2.14,-97.8,39.1,-13.3,49,422,0.00,2.45,0.00,0.000,6,0.000,0.035,2426,2187,3606
$GC,611,-2.14,-97.8,65.8,-13.2,65,615,0.00,2.58,0.00,0.000,4,0.000,0.061,2425,798,3607
$GC,642,-2.14,-97.8,70.5,-14.6,67,650,0.00,2.47,0.00,0.000,6,0.000,0.036,2426,2197,3607
$GC,839,-2.14,-97.8,96.6,-13.2,83,843,0.00,2.53,0.00,0.000,4,0.000,0.058,2426,3598,3607
$GC,904,-2.14,-97.8,105.6,-13.9,88,909,0.00,2.42,0.00,0.000,6,0.000,0.035,2426,2189,3607
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1009,-0.38,0.0,119.5,14.0,96,1092,2.03,0.00,78.00,0.673,6,0.117,0.000,2812,2074,3202
$STATE,1093,end apogee,CONTROL_FINISHED_OK
$STATE,1093,begin climb
$GC,1095,2.14,97.8,122.9,0.0,103,1181,2.55,2.65,76.18,0.655,4,0.060,0.063,3369,686,2802
$GC,1226,2.14,98.0,116.4,8.9,113,1234,0.00,2.50,0.00,0.000,6,0.000,0.035,3369,2078,2800
$GC,1422,2.14,98.0,97.4,9.8,129,1426,0.00,2.55,0.00,0.000,4,0.000,0.059,3369,3476,2800
$GC,1541,2.14,98.0,84.7,10.4,138,1545,0.00,2.42,0.00,0.000,6,0.000,0.035,3369,2090,2799
$GC,1743,2.15,104.4,66.0,8.2,154,1756,0.00,2.55,4.50,0.730,4,0.000,0.055,3369,3474,2776
$GC,1840,2.15,104.4,56.5,10.3,161,1848,0.00,2.45,0.00,0.000,6,0.000,0.035,3369,2081,2776
$GC,2037,2.15,104.4,37.5,10.3,177,2040,0.00,2.55,0.00,0.000,4,0.000,0.056,3369,3484,2775
$GC,2200,2.15,104.4,21.2,9.1,189,2208,0.00,2.47,0.00,0.000,6,0.000,0.035,3369,2080,2775
$GC,2406,2.23,167.7,7.4,2.5,219,2461,0.00,2.60,48.28,0.622,4,0.000,0.054,3369,3482,2517
$STATE,2486,end climb,SURFACE_DEPTH_REACHED
$STATE,2486,begin surface coast
$FINISH,1.2,1.021183
$STATE,2586,end surface coast,CONTROL_FINISHED_OK
$STATE,2587,begin surface
$SM_CCo,2615,151.00,0.568,0,0,1163,500.17
$SM_GC,1.30,0.00,0.00,151.00,0.000,0.000,0.568,409,2190,1163,-11.46,-0.28,500.17
$IRIDIUM_FIX,4722.92,-12256.21,270907,111134
$TT8_MAMPS,0.073632
$HUMID,2209
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.9,999.0
$24V_AH,23.8,28.242
$10V_AH,10.1,18.787
$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,31.475,40.275,206.950,151.000,0.000,63.244,39.381,139.795,0.250,4.150,3309.850,11.748,451.038,1432.229,481.985,485.867,357.086,33.342,773.449,0.000,463.944,0.000,2.489
$DEVICE_MAMPS,194.818,72.865,730.184,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.909,0.000,0.000,0.000,0.000,0.000,0.000,3314.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,247
$CFSIZE,260231168,253358080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,094647,4739.400,-12253.267,12,2.1,31,18.3