version: 66.02
glider: 117
mission: 4
dive: 96
start: 9 26 107 1 56 13
data:
$ID,117
$MISSION,4
$DIVE,96
$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,450
$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,-18739.75
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,27
$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
$GPS1,014708,4739.514,-12253.084,13,1.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.7
$GPS2,015507,4739.497,-12253.049,16,1.0,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.019
$KALMAN_X,22078.6,-46.9,-127.8,-22343.0,29.9
$KALMAN_Y,11598.3,-229.4,-175.0,-11736.6,12.0
$MHEAD_RNG_PITCHd_Wd,77.0,809,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,76,0.00,0.00,-48.95,0.000,2,0.000,0.000,413,2088,2436
$GC,79,-1.68,-97.8,2.1,-2.9,8,152,13.30,2.60,-51.65,0.000,4,0.199,0.067,2526,3503,3602
$GC,391,-1.68,-97.8,30.5,-10.9,49,395,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2098,3605
$GC,593,-1.68,-97.8,51.0,-10.8,65,597,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3496,3605
$GC,638,-1.68,-97.8,56.1,-11.0,68,645,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2104,3606
$GC,834,-1.68,-97.8,76.3,-10.2,84,839,0.00,2.60,0.00,0.000,4,0.000,0.054,2525,3496,3605
$GC,893,-1.68,-97.8,82.2,-10.1,88,897,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2092,3605
$GC,1095,-1.68,-97.8,101.2,-9.7,104,1099,0.00,2.55,0.00,0.000,4,0.000,0.054,2525,3498,3605
$GC,1121,-1.68,-97.8,103.9,-10.3,106,1125,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2097,3605
$STATE,1258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1258,begin apogee
$GC,1264,-0.38,0.0,117.5,9.6,117,1346,1.48,0.00,77.22,0.673,6,0.105,0.000,2812,1994,3202
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1349,1.68,97.8,119.9,0.0,124,1434,2.10,2.70,75.45,0.653,4,0.062,0.067,3268,601,2803
$GC,1460,1.73,131.9,115.6,6.8,133,1492,0.00,2.50,26.15,0.658,6,0.000,0.036,3268,2010,2664
$GC,1680,1.73,131.9,95.2,10.3,150,1683,0.00,2.53,0.00,0.000,4,0.000,0.057,3269,3395,2662
$GC,1732,1.73,131.9,89.6,10.9,154,1736,0.00,2.47,0.00,0.000,6,0.000,0.037,3268,1997,2662
$GC,1934,1.73,132.6,71.7,8.8,170,1938,0.00,2.55,0.00,0.000,4,0.000,0.054,3268,3398,2662
$GC,2140,1.73,133.6,53.1,8.8,185,2145,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,1999,2661
$GC,2335,1.74,142.5,36.1,8.3,200,2349,0.00,2.60,7.72,0.694,4,0.000,0.053,3268,3400,2620
$GC,2494,1.74,142.5,20.7,9.7,212,2498,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,1993,2620
$STATE,2690,end climb,SURFACE_DEPTH_REACHED
$STATE,2690,begin surface coast
$FINISH,3.2,1.021465
$STATE,2784,end surface coast,CONTROL_FINISHED_OK
$STATE,2784,begin surface
$SM_CCo,2811,148.82,0.583,0,0,1367,450.13
$SM_GC,1.31,0.00,0.00,148.82,0.000,0.000,0.583,411,2118,1367,-11.45,0.48,450.13
$IRIDIUM_FIX,4719.74,-12254.47,260907,040451
$TT8_MAMPS,0.075933
$HUMID,2205
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,92.7,999.0
$24V_AH,23.1,25.378
$10V_AH,10.1,16.470
$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,30.500,40.675,186.550,148.825,0.000,63.155,33.152,194.170,0.500,82.999,3501.001,32.295,486.133,1607.949,438.075,527.948,407.059,33.341,734.967,0.000,483.955,0.000,2.492
$DEVICE_MAMPS,198.653,67.496,694.135,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.910,0.000,0.000,0.000,0.000,0.000,0.000,3584.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,255
$CFSIZE,260231168,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,024615,4739.519,-12252.547,8,1.5,8,18.3