version: 66.02
glider: 117
mission: 4
dive: 216
start: 9 30 107 23 44 35
data:
$ID,117
$MISSION,4
$DIVE,216
$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,-21685.627
$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,27
$R_STBD_OVSHOOT,45
$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,0
$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
$GPS1,233635,4739.441,-12252.829,11,2.1,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-55.3
$GPS2,234329,4739.485,-12252.788,12,2.8,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.174,-0.022
$KALMAN_X,29131.3,229.2,277.6,-29751.3,-49.2
$KALMAN_Y,14458.9,116.4,137.4,-15274.2,23.9
$MHEAD_RNG_PITCHd_Wd,244.5,518,-24.5,-8.889
$D_GRID,122
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.96,-67.9,0.0,0.0,0,110,0.00,0.00,-85.25,0.000,2,0.000,0.000,405,2216,2854
$GC,113,-2.00,-97.8,2.1,-4.3,14,162,12.93,2.62,-29.17,0.000,4,0.199,0.072,2455,799,3602
$GC,208,-2.00,-97.8,8.5,-9.2,29,214,0.00,2.45,0.00,0.000,6,0.000,0.035,2455,2195,3603
$GC,280,-2.00,-97.8,18.5,-15.0,40,286,0.00,2.60,0.00,0.000,4,0.000,0.063,2455,800,3603
$GC,306,-2.00,-97.8,22.1,-14.7,43,310,0.00,2.45,0.00,0.000,6,0.000,0.036,2455,2200,3604
$GC,501,-2.00,-97.8,46.6,-12.6,58,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2200,3603
$GC,692,-2.00,-97.8,71.0,-12.7,73,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2200,3603
$GC,883,-2.00,-97.8,93.7,-11.7,88,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2200,3603
$GC,1070,-2.00,-97.8,116.0,-11.8,103,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2200,3603
$STATE,1104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1110,-0.38,0.0,120.5,11.6,106,1194,1.85,0.00,79.00,0.694,6,0.114,0.000,2811,2071,3202
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,2.00,97.8,123.1,0.0,113,1283,2.42,2.70,77.28,0.673,4,0.061,0.064,3340,691,2803
$GC,1315,2.00,99.6,117.0,8.7,122,1322,0.00,2.50,0.00,0.000,6,0.000,0.035,3340,2081,2802
$GC,1511,2.00,99.6,97.6,10.4,138,1515,0.00,2.55,0.00,0.000,4,0.000,0.059,3340,3481,2801
$GC,1655,2.00,99.6,81.9,10.7,148,1663,0.00,2.45,0.00,0.000,6,0.000,0.035,3340,2091,2801
$GC,1852,2.00,99.6,62.2,10.1,164,1856,0.00,2.50,0.00,0.000,4,0.000,0.054,3340,3475,2800
$GC,1916,2.00,99.6,55.5,10.2,168,1924,0.00,2.45,0.00,0.000,6,0.000,0.035,3340,2084,2800
$GC,2113,2.00,100.6,37.5,8.8,184,2117,0.00,2.50,0.00,0.000,4,0.000,0.054,3340,3475,2800
$GC,2270,2.00,100.6,22.2,9.6,195,2278,0.00,2.45,1.48,0.809,6,0.000,0.035,3340,2081,2792
$GC,2475,2.00,100.6,5.8,9.5,224,2481,0.00,2.62,0.00,0.000,4,0.000,0.066,3340,678,2792
$STATE,2485,end climb,SURFACE_DEPTH_REACHED
$STATE,2485,begin surface coast
$FINISH,0.3,1.010546
$STATE,2539,end surface coast,CONTROL_FINISHED_OK
$STATE,2540,begin surface
$SM_CCo,2566,182.12,0.584,0,0,1162,500.17
$SM_GC,0.91,0.00,0.00,182.12,0.000,0.000,0.584,408,2211,1162,-11.46,0.31,500.17
$IRIDIUM_FIX,4722.92,-12254.47,011007,020228
$TT8_MAMPS,0.028379
$HUMID,2142
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.4,35.344
$10V_AH,10.2,21.928
$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,30.450,35.750,157.750,182.125,0.000,63.529,44.063,138.453,0.250,0.000,0.000,32.729,438.917,1476.511,476.053,438.351,361.971,33.343,737.023,0.000,414.536,0.000,2.488
$DEVICE_MAMPS,198.653,72.098,809.185,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6435,234
$CFSIZE,260231168,250982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,003129,4739.425,-12253.221,11,2.4,30,18.3