version: 66.02
glider: 117
mission: 4
dive: 136
start: 9 27 107 16 54 34
data:
$ID,117
$MISSION,4
$DIVE,136
$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,-19725.816
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,164608,4739.378,-12253.058,11,1.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.6
$GPS2,165327,4739.374,-12253.069,14,1.9,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.039
$KALMAN_X,21813.7,-15.4,13.7,-22280.2,151.0
$KALMAN_Y,8984.9,-62.5,72.2,-9760.9,86.5
$MHEAD_RNG_PITCHd_Wd,266.5,239,-27.7,-8.889
$D_GRID,118
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,89,0.00,0.00,-61.78,0.000,2,0.000,0.000,409,2187,2486
$GC,92,-2.25,-95.4,2.3,-4.1,10,159,12.70,2.62,-44.42,0.000,4,0.202,0.067,2403,3604,3594
$GC,409,-2.25,-95.4,39.0,-13.5,48,417,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2203,3596
$GC,605,-2.25,-95.4,65.8,-13.8,64,609,0.00,2.53,0.00,0.000,4,0.000,0.056,2403,3601,3596
$GC,740,-2.25,-95.4,85.1,-14.0,74,744,0.00,2.42,0.00,0.000,6,0.000,0.035,2403,2193,3596
$GC,935,-2.25,-95.4,112.7,-13.9,89,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2193,3596
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,989,-0.38,0.0,119.4,13.2,93,1071,2.17,0.00,76.10,0.680,6,0.122,0.000,2814,2069,3202
$STATE,1072,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1074,2.25,95.4,122.2,0.0,100,1158,2.67,2.70,74.15,0.662,4,0.060,0.065,3387,687,2813
$GC,1198,2.25,95.4,114.5,10.4,110,1205,0.00,2.47,0.00,0.000,6,0.000,0.035,3387,2073,2812
$GC,1394,2.25,95.4,94.1,10.0,126,1399,0.00,2.55,0.00,0.000,4,0.000,0.058,3387,3479,2811
$GC,1551,2.25,95.4,77.1,10.5,137,1559,0.00,2.45,0.00,0.000,6,0.000,0.035,3387,2086,2810
$GC,1748,2.25,95.4,57.6,10.0,153,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2087,2810
$GC,1939,2.25,95.4,38.0,10.2,168,1943,0.00,2.50,0.00,0.000,4,0.000,0.055,3387,3476,2811
$GC,2064,2.25,95.4,25.3,10.3,177,2069,0.00,2.42,0.00,0.000,6,0.000,0.036,3387,2079,2809
$GC,2266,2.28,124.6,10.0,5.6,202,2296,0.00,2.60,21.98,0.642,4,0.000,0.054,3387,3470,2693
$STATE,2353,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,5.1,1.021363
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2461,begin surface
$SM_CCo,2467,247.23,0.568,0,0,745,602.46
$SM_GC,1.18,13.52,0.00,0.00,0.041,0.000,0.000,409,2192,740,-11.42,-0.25,603.93
$IRIDIUM_FIX,4719.74,-12254.47,270907,191932
$TT8_MAMPS,0.071331
$HUMID,2233
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.3,999.0
$24V_AH,23.7,28.963
$10V_AH,10.1,19.381
$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,31.075,30.175,172.225,247.225,0.000,60.984,35.486,163.598,0.250,0.000,3235.000,14.058,437.141,1486.504,541.519,451.432,379.169,33.344,804.341,0.000,429.125,0.000,2.489
$DEVICE_MAMPS,201.721,67.496,679.562,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.670,0.000,0.000,0.000,0.000,0.000,0.000,3235.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,232
$CFSIZE,260231168,253108224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,174301,4739.475,-12253.339,36,1.6,46,18.3