version: 66.02
glider: 117
mission: 4
dive: 131
start: 9 27 107 12 8 38
data:
$ID,117
$MISSION,4
$DIVE,131
$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,-19622.416
$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,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
$GPS1,114937,4739.480,-12252.954,15,1.9,25,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.6
$GPS2,120731,4739.450,-12252.951,41,1.7,41,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,0.050
$KALMAN_X,21571.0,-30.6,-135.4,-21723.4,-75.6
$KALMAN_Y,9035.5,-67.2,-250.5,-9345.1,-112.4
$MHEAD_RNG_PITCHd_Wd,57.7,686,-20.3,-8.889
$D_GRID,117
$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,-60.95,0.000,2,0.000,0.000,413,2211,2484
$GC,90,-1.68,-97.8,2.3,-3.9,10,157,13.25,2.65,-45.17,0.000,4,0.196,0.071,2524,805,3603
$GC,407,-1.68,-97.8,30.8,-10.1,51,415,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2189,3606
$GC,603,-1.68,-97.8,50.6,-10.1,67,608,0.00,2.58,0.00,0.000,4,0.000,0.061,2524,797,3606
$GC,661,-1.68,-97.8,56.6,-10.2,71,669,0.00,2.47,0.00,0.000,6,0.000,0.035,2524,2196,3606
$GC,858,-1.68,-97.8,76.6,-10.7,87,862,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3597,3606
$GC,929,-1.68,-97.8,84.8,-11.4,92,937,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2194,3606
$GC,1125,-1.68,-97.8,104.6,-10.3,108,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2194,3606
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1256,-0.38,0.0,117.7,10.5,118,1337,1.48,0.00,77.62,0.680,6,0.106,0.000,2811,2070,3201
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1341,1.68,97.8,120.7,0.0,125,1426,2.10,2.62,76.07,0.658,4,0.062,0.064,3269,686,2802
$GC,1452,1.74,139.6,116.6,6.3,134,1490,0.00,2.47,32.10,0.659,6,0.000,0.035,3269,2084,2632
$GC,1678,1.74,139.6,95.6,10.0,152,1682,0.00,2.55,0.00,0.000,4,0.000,0.058,3269,3476,2630
$GC,1776,1.74,139.6,85.4,10.2,159,1781,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2083,2629
$GC,1978,1.75,152.3,68.1,8.1,175,1994,0.00,2.62,9.15,0.693,4,0.000,0.054,3269,3481,2581
$GC,2108,1.75,152.3,55.5,10.1,185,2113,0.00,2.47,0.00,0.000,6,0.000,0.036,3269,2081,2580
$GC,2310,1.75,152.3,35.4,10.2,201,2314,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3476,2580
$GC,2350,1.75,152.3,31.4,10.5,204,2354,0.00,2.42,0.00,0.000,6,0.000,0.035,3270,2080,2580
$GC,2549,1.75,152.3,11.9,9.3,225,2555,0.00,2.53,0.00,0.000,4,0.000,0.055,3269,3476,2580
$GC,2628,1.78,173.7,5.1,7.6,237,2635,0.00,2.42,2.83,0.746,2,0.000,0.035,3270,2073,2565
$STATE,2636,end climb,SURFACE_DEPTH_REACHED
$STATE,2636,begin surface coast
$FINISH,1.8,1.020767
$STATE,2727,end surface coast,CONTROL_FINISHED_OK
$STATE,2727,begin surface
$SM_CCo,2754,163.07,0.582,0,0,1163,500.17
$SM_GC,1.30,0.00,0.00,163.07,0.000,0.000,0.582,411,2215,1163,-11.44,0.42,500.17
$IRIDIUM_FIX,4722.92,-12254.47,270907,151552
$TT8_MAMPS,0.072098
$HUMID,2188
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,93.0,999.0
$24V_AH,23.8,28.522
$10V_AH,10.1,19.029
$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,30.400,40.575,197.775,163.075,0.000,182.649,285.576,218.253,0.750,8.300,4105.700,42.316,471.176,1747.996,474.054,512.083,814.940,33.349,767.862,0.000,462.864,0.000,2.491
$DEVICE_MAMPS,196.352,71.331,746.291,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.568,0.000,0.000,0.000,0.000,0.000,0.000,4114.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,252
$CFSIZE,260231168,253259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,125802,4739.532,-12252.608,7,1.8,12,18.3