version: 66.02
glider: 117
mission: 4
dive: 129
start: 9 27 107 9 58 50
data:
$ID,117
$MISSION,4
$DIVE,129
$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,-19545.623
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,094647,4739.400,-12253.267,12,2.1,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.0
$GPS2,095744,4739.362,-12253.249,15,1.9,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,0.162
$KALMAN_X,21719.7,-21.8,14.7,-22400.8,-119.4
$KALMAN_Y,9274.4,-29.2,-26.1,-10007.1,-243.0
$MHEAD_RNG_PITCHd_Wd,3.8,203,-24.4,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.96,-68.0,0.0,0.0,0,88,0.00,0.00,-61.20,0.000,2,0.000,0.000,409,2190,2486
$GC,91,-2.00,-97.8,2.2,-3.2,10,165,12.90,2.60,-50.90,0.000,4,0.198,0.071,2455,809,3603
$GC,342,-2.00,-97.8,25.4,-12.0,46,350,0.00,2.45,0.00,0.000,6,0.000,0.035,2455,2196,3606
$GC,539,-2.00,-97.8,48.8,-12.9,62,543,0.00,2.53,0.00,0.000,4,0.000,0.058,2455,3598,3607
$GC,631,-2.00,-97.8,61.2,-13.7,69,635,0.00,2.42,0.00,0.000,6,0.000,0.035,2457,2199,3606
$GC,833,-2.00,-97.8,87.7,-12.9,85,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2199,3606
$GC,1024,-2.00,-97.8,111.3,-11.7,100,1028,0.00,2.53,0.00,0.000,4,0.000,0.057,2455,3598,3606
$GC,1069,-2.00,-97.8,116.8,-12.1,103,1073,0.00,2.42,0.00,0.000,6,0.000,0.035,2455,2194,3606
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1098,-0.38,0.0,119.7,11.5,105,1180,1.88,0.00,77.65,0.674,6,0.115,0.000,2814,2070,3202
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,2.00,97.8,122.0,0.0,112,1268,2.42,2.65,76.25,0.650,4,0.061,0.054,3335,3478,2803
$GC,1307,2.00,97.8,115.0,9.0,122,1315,0.00,2.47,0.00,0.000,6,0.000,0.035,3335,2086,2802
$GC,1504,2.00,99.4,96.9,8.7,138,1508,0.00,2.53,0.00,0.000,4,0.000,0.054,3335,3478,2801
$GC,1616,2.00,99.4,86.5,9.8,146,1620,0.00,2.42,0.00,0.000,6,0.000,0.035,3335,2080,2801
$GC,1818,2.00,99.4,68.2,8.9,162,1822,0.00,2.55,0.00,0.000,4,0.000,0.055,3335,3482,2800
$GC,1862,2.00,99.4,64.2,9.2,165,1870,0.00,2.45,0.00,0.000,6,0.000,0.035,3335,2085,2801
$GC,2059,2.01,103.3,46.9,8.5,181,2072,0.00,2.58,3.75,0.734,4,0.000,0.054,3335,3473,2780
$GC,2170,2.01,103.3,36.8,9.4,189,2177,0.00,2.42,0.00,0.000,6,0.000,0.035,3335,2077,2779
$GC,2366,2.02,112.2,20.5,8.1,205,2379,0.00,2.55,6.68,0.698,4,0.000,0.054,3335,3478,2744
$GC,2504,2.02,112.3,8.5,8.9,225,2511,0.00,2.42,0.00,0.000,6,0.000,0.035,3335,2080,2743
$STATE,2567,end climb,SURFACE_DEPTH_REACHED
$STATE,2568,begin surface coast
$FINISH,4.7,1.021736
$STATE,2721,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2721,begin surface
$SM_CCo,2748,189.70,0.578,0,0,1162,500.17
$SM_GC,1.28,0.00,0.00,189.70,0.000,0.000,0.578,410,2219,1162,-11.45,0.54,500.17
$IRIDIUM_FIX,4722.92,-12251.79,270907,131304
$TT8_MAMPS,0.072098
$HUMID,2197
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.8,28.333
$10V_AH,10.1,18.865
$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,31.225,40.375,164.325,189.700,0.000,103.385,74.259,223.744,0.750,8.300,3679.700,32.206,479.804,1627.006,492.391,497.854,525.598,33.343,773.564,0.000,456.685,0.000,2.489
$DEVICE_MAMPS,197.886,71.331,734.019,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.620,0.000,0.000,0.000,0.000,0.000,0.000,3688.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,258
$CFSIZE,260231168,253325312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,104853,4739.455,-12253.244,11,6.7,30,18.3