version: 66.02
glider: 117
mission: 4
dive: 134
start: 9 27 107 14 59 28
data:
$ID,117
$MISSION,4
$DIVE,134
$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,-19699.717
$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,34
$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
$GPS1,145137,4739.508,-12252.642,39,1.1,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.4
$GPS2,145820,4739.505,-12252.630,10,1.2,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.067
$KALMAN_X,21584.9,-44.6,-135.7,-21323.1,65.5
$KALMAN_Y,9086.6,-87.7,-173.3,-9352.5,135.5
$MHEAD_RNG_PITCHd_Wd,232.9,717,-20.3,-8.889
$D_GRID,123
$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,-61.15,0.000,2,0.000,0.000,410,2184,2468
$GC,90,-1.68,-97.8,2.2,-3.8,10,152,13.50,2.62,-43.05,0.000,4,0.202,0.069,2527,3595,3603
$GC,403,-1.68,-97.8,29.7,-10.4,51,407,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2202,3606
$GC,605,-1.68,-97.8,49.0,-10.1,67,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2202,3607
$GC,797,-1.68,-97.8,69.4,-11.0,82,801,0.00,2.53,0.00,0.000,4,0.000,0.058,2526,3600,3606
$GC,829,-1.68,-97.8,73.2,-11.7,84,834,0.00,2.40,0.00,0.000,6,0.000,0.035,2529,2197,3607
$GC,1031,-1.68,-97.8,93.8,-10.5,100,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3607
$GC,1220,-1.68,-97.8,112.8,-9.9,115,1224,0.00,2.53,0.00,0.000,4,0.000,0.057,2527,3594,3606
$GC,1252,-1.68,-97.8,116.0,-10.3,117,1259,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2200,3606
$STATE,1295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1295,begin apogee
$GC,1300,-0.38,0.0,120.1,9.5,121,1383,1.48,0.00,77.93,0.684,6,0.109,0.000,2812,2077,3202
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,1.68,97.8,122.6,0.0,128,1470,2.15,2.62,76.40,0.662,4,0.065,0.054,3267,3474,2803
$GC,1518,1.71,116.5,116.4,7.7,139,1538,0.00,2.42,14.12,0.686,6,0.000,0.036,3267,2082,2727
$GC,1725,1.72,125.2,98.0,8.4,155,1739,0.00,2.55,6.53,0.718,4,0.000,0.055,3267,3475,2690
$GC,1837,1.72,125.2,87.8,9.3,163,1844,0.00,2.42,0.00,0.000,6,0.000,0.035,3267,2079,2690
$GC,2032,1.72,125.2,70.4,9.4,179,2036,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3476,2689
$GC,2090,1.72,125.2,64.6,9.8,183,2098,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2080,2689
$GC,2287,1.72,125.2,46.7,9.1,199,2291,0.00,2.50,0.00,0.000,4,0.000,0.054,3267,3474,2689
$GC,2371,1.72,125.5,38.9,8.9,205,2379,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2079,2689
$GC,2568,1.73,135.5,22.4,8.3,221,2580,0.00,0.00,7.72,0.700,6,0.000,0.000,3267,2079,2648
$GC,2777,1.79,187.2,7.2,5.7,250,2809,0.10,0.00,29.20,0.638,2,0.064,0.000,3293,2079,2494
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,1.4,1.020695
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2915,149.12,0.579,0,0,1162,500.17
$SM_GC,1.25,0.00,0.00,149.12,0.000,0.000,0.579,410,2211,1162,-11.45,0.31,500.17
$IRIDIUM_FIX,4722.92,-12249.11,270907,171736
$TT8_MAMPS,0.071331
$HUMID,2202
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,28.771
$10V_AH,10.1,19.245
$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,30.975,35.200,211.900,149.125,0.000,60.244,39.019,130.904,0.250,0.000,3627.000,15.320,495.579,1683.154,475.589,488.648,354.287,33.348,764.145,0.000,466.060,0.000,2.491
$DEVICE_MAMPS,201.721,69.030,717.912,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.700,0.000,0.000,0.000,0.000,0.000,0.000,3627.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,267
$CFSIZE,260231168,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,155114,4739.494,-12252.937,7,2.0,7,18.3