version: 66.02
glider: 117
mission: 4
dive: 132
start: 9 27 107 13 6 18
data:
$ID,117
$MISSION,4
$DIVE,132
$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,-19653.834
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,125802,4739.532,-12252.608,7,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.7
$GPS2,130511,4739.492,-12252.612,10,2.1,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,-0.020
$KALMAN_X,21516.8,-40.5,-175.7,-21195.0,-28.5
$KALMAN_Y,9026.1,-82.7,-288.5,-9205.7,-8.6
$MHEAD_RNG_PITCHd_Wd,79.0,267,-27.7,-8.889
$D_GRID,124
$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,-2.20,-53.0,0.0,0.0,0,87,0.00,0.00,-61.15,0.000,2,0.000,0.000,411,2216,2473
$GC,90,-2.25,-97.3,2.3,-3.9,10,158,12.65,2.65,-48.53,0.000,4,0.200,0.073,2404,796,3599
$GC,402,-2.25,-97.3,38.2,-15.5,49,406,0.00,2.45,0.00,0.000,6,0.000,0.037,2404,2195,3602
$GC,604,-2.25,-97.3,67.0,-14.2,65,608,0.00,2.55,0.00,0.000,4,0.000,0.058,2404,3605,3602
$GC,643,-2.25,-97.3,72.7,-15.1,68,647,0.00,2.42,0.00,0.000,6,0.000,0.035,2404,2201,3602
$GC,845,-2.25,-97.3,100.7,-13.6,84,849,0.00,2.53,0.00,0.000,4,0.000,0.057,2403,3599,3602
$GC,969,-2.25,-97.3,119.0,-14.5,93,977,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2199,3602
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,993,-0.38,0.0,121.5,14.1,95,1075,2.15,0.00,77.30,0.680,6,0.122,0.000,2810,2077,3202
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1078,2.25,97.3,124.7,0.0,102,1159,2.70,0.00,75.95,0.660,6,0.060,0.000,3388,2077,2805
$GC,1347,2.25,97.3,103.3,10.0,124,1352,0.00,2.55,0.00,0.000,4,0.000,0.055,3388,3477,2803
$GC,1551,2.25,97.3,81.8,11.0,139,1556,0.00,2.42,0.00,0.000,6,0.000,0.036,3388,2089,2803
$GC,1753,2.25,97.3,61.6,10.2,155,1758,0.00,2.53,0.00,0.000,4,0.000,0.055,3388,3483,2803
$GC,1866,2.25,97.3,49.7,10.6,163,1870,0.00,2.45,0.00,0.000,6,0.000,0.036,3388,2075,2802
$GC,2061,2.25,97.3,30.0,9.5,178,2065,0.00,2.60,0.00,0.000,4,0.000,0.065,3389,680,2802
$GC,2120,2.25,97.3,24.0,10.1,182,2124,0.00,2.45,0.00,0.000,6,0.000,0.035,3388,2080,2802
$GC,2323,2.29,129.4,7.4,5.3,209,2354,0.00,2.58,24.10,0.643,4,0.000,0.058,3388,3478,2673
$GC,2380,2.34,172.4,5.4,4.1,218,2394,0.00,2.45,8.65,0.667,2,0.000,0.035,3389,2072,2629
$STATE,2394,end climb,SURFACE_DEPTH_REACHED
$STATE,2395,begin surface coast
$FINISH,3.7,1.021489
$STATE,2518,end surface coast,CONTROL_FINISHED_OK
$STATE,2519,begin surface
$SM_CCo,2546,164.90,0.578,0,0,1162,500.17
$SM_GC,1.23,0.00,0.00,164.90,0.000,0.000,0.578,410,2213,1162,-11.45,0.37,500.17
$IRIDIUM_FIX,4722.92,-12253.53,270907,161633
$TT8_MAMPS,0.075166
$HUMID,2198
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.8,28.603
$10V_AH,10.1,19.097
$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,31.850,35.450,186.000,164.900,0.000,63.490,33.275,142.905,0.250,4.150,3246.850,30.790,447.792,1415.800,465.770,482.544,356.986,33.342,738.054,0.000,445.150,0.000,2.489
$DEVICE_MAMPS,200.187,72.865,679.562,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.553,0.000,0.000,0.000,0.000,0.000,0.000,3251.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,239
$CFSIZE,260231168,253231104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,135215,4739.495,-12252.282,11,1.8,11,18.3