version: 66.02
glider: 117
mission: 4
dive: 130
start: 9 27 107 10 56 54
data:
$ID,117
$MISSION,4
$DIVE,130
$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,-19579.471
$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,28
$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
$GPS1,104853,4739.455,-12253.244,11,6.7,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.3
$GPS2,105547,4739.441,-12253.276,13,5.8,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,0.087
$KALMAN_X,21600.7,-24.1,-65.4,-22233.0,-126.6
$KALMAN_Y,9127.4,-43.7,-150.1,-9577.5,-215.9
$MHEAD_RNG_PITCHd_Wd,47.1,1092,-20.3,-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,-1.68,-97.8,0.0,0.0,0,87,0.00,0.00,-61.17,0.000,2,0.000,0.000,410,2220,2468
$GC,90,-1.68,-97.8,2.1,-3.0,10,164,13.38,2.65,-51.95,0.000,4,0.199,0.073,2525,802,3602
$GC,416,-1.68,-97.8,30.8,-10.1,53,420,0.00,2.42,0.00,0.000,6,0.000,0.036,2524,2191,3605
$GC,618,-1.68,-97.8,51.5,-10.2,69,622,0.00,2.58,0.00,0.000,4,0.000,0.061,2525,798,3605
$GC,649,-1.68,-97.8,54.9,-10.9,71,657,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2198,3605
$GC,846,-1.68,-97.8,75.2,-10.4,87,849,0.00,2.53,0.00,0.000,4,0.000,0.059,2524,3595,3605
$GC,871,-1.68,-97.8,77.6,-9.6,89,876,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2198,3605
$GC,1074,-1.68,-97.8,96.3,-9.4,105,1078,0.00,2.53,0.00,0.000,4,0.000,0.057,2524,3595,3605
$GC,1124,-1.68,-97.8,101.8,-10.8,108,1132,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2200,3605
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1312,-0.38,0.0,120.0,9.8,123,1394,1.48,0.00,77.57,0.680,6,0.107,0.000,2811,2075,3202
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1397,1.68,97.8,123.0,0.0,130,1483,2.10,2.65,76.00,0.660,4,0.063,0.064,3268,689,2802
$GC,1514,1.72,126.5,118.8,7.1,139,1546,0.00,2.50,22.15,0.665,6,0.000,0.035,3268,2080,2685
$GC,1735,1.72,126.5,99.2,9.5,157,1739,0.00,2.55,0.00,0.000,4,0.000,0.058,3268,3479,2683
$GC,1886,1.72,126.5,84.9,9.6,168,1891,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2090,2683
$GC,2089,1.73,131.6,67.9,8.6,184,2101,0.00,2.58,3.15,0.752,4,0.000,0.054,3268,3475,2665
$GC,2194,1.73,131.6,58.3,9.6,192,2198,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2072,2664
$GC,2389,1.73,134.6,41.0,8.7,207,2396,0.00,2.62,2.05,0.785,4,0.000,0.054,3268,3483,2653
$GC,2448,1.73,134.6,35.6,9.2,211,2452,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2076,2653
$GC,2645,1.73,134.6,17.9,9.0,228,2651,0.00,2.55,0.00,0.000,4,0.000,0.055,3268,3483,2653
$GC,2757,1.74,145.8,7.9,8.2,245,2770,0.00,2.45,8.62,0.685,6,0.000,0.035,3268,2072,2607
$STATE,2807,end climb,SURFACE_DEPTH_REACHED
$STATE,2807,begin surface coast
$FINISH,1.9,1.020769
$STATE,2914,end surface coast,CONTROL_FINISHED_OK
$STATE,2914,begin surface
$SM_CCo,2942,162.05,0.584,0,0,1163,500.17
$SM_GC,1.34,0.00,0.00,162.05,0.000,0.000,0.584,413,2211,1163,-11.44,0.31,500.17
$IRIDIUM_FIX,4722.92,-12256.21,270907,131307
$TT8_MAMPS,0.071331
$HUMID,2206
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,28.416
$10V_AH,10.1,18.941
$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,30.550,45.650,189.550,162.050,0.000,60.715,34.260,128.069,0.500,4.150,3673.850,33.218,500.798,1685.797,478.849,536.196,344.312,33.350,786.444,0.000,491.811,0.000,2.491
$DEVICE_MAMPS,198.653,72.865,784.641,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.807,0.000,0.000,0.000,0.000,0.000,0.000,3678.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,269
$CFSIZE,260231168,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,114937,4739.480,-12252.954,15,1.9,25,18.3