version: 66.02
glider: 117
mission: 4
dive: 101
start: 9 26 107 6 54 42
data:
$ID,117
$MISSION,4
$DIVE,101
$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,-18849.434
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,064611,4739.514,-12252.450,11,3.0,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.2
$GPS2,065335,4739.517,-12252.445,14,2.7,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.024
$KALMAN_X,22139.8,-39.1,166.3,-21949.8,-41.8
$KALMAN_Y,11375.7,-159.3,121.9,-11843.6,6.5
$MHEAD_RNG_PITCHd_Wd,245.1,948,-20.3,-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,-1.68,-97.8,0.0,0.0,0,105,0.00,0.00,-78.95,0.000,2,0.000,0.000,413,2210,2406
$GC,108,-1.68,-97.8,2.1,-2.7,13,176,13.35,2.55,-48.20,0.000,4,0.199,0.069,2525,3592,3602
$GC,197,-1.68,-97.8,6.5,-11.1,27,203,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2198,3604
$GC,269,-1.68,-97.8,13.8,-10.3,38,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3604
$GC,340,-1.68,-97.8,20.4,-9.0,49,344,0.00,2.53,0.00,0.000,4,0.000,0.055,2526,3592,3605
$GC,427,-1.68,-97.8,29.0,-10.0,55,431,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2189,3605
$GC,622,-1.68,-97.8,48.4,-9.7,70,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2189,3605
$GC,813,-1.68,-97.8,67.9,-10.1,85,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2189,3606
$GC,1003,-1.68,-97.8,87.4,-10.2,100,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2189,3605
$GC,1190,-1.68,-97.8,105.8,-9.6,115,1194,0.00,2.60,0.00,0.000,4,0.000,0.067,2525,797,3605
$GC,1241,-1.68,-97.8,111.6,-11.2,118,1249,0.00,2.50,0.00,0.000,6,0.000,0.037,2525,2200,3606
$STATE,1334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1340,-0.38,0.0,121.1,9.9,126,1422,1.48,0.00,75.50,0.680,6,0.104,0.000,2813,2068,3202
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1425,1.68,97.8,123.7,0.0,133,1510,2.15,2.67,75.75,0.662,4,0.061,0.064,3269,697,2803
$GC,1532,1.74,144.9,120.4,6.0,142,1575,0.00,2.47,36.62,0.658,6,0.000,0.036,3270,2087,2610
$GC,1764,1.74,144.9,95.9,11.0,160,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2087,2611
$GC,1954,1.74,144.9,77.0,9.6,175,1958,0.00,2.53,0.00,0.000,4,0.000,0.059,3270,3476,2610
$GC,2066,1.74,144.9,65.1,10.7,183,2070,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2089,2611
$GC,2267,1.74,144.9,45.0,10.1,199,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2089,2610
$GC,2460,1.74,144.9,26.5,9.4,214,2464,0.00,2.53,0.00,0.000,4,0.000,0.056,3270,3481,2610
$GC,2518,1.74,144.9,20.5,9.6,218,2522,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,2073,2610
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,3.8,1.009500
$STATE,2815,end surface coast,CONTROL_FINISHED_OK
$STATE,2815,begin surface
$SM_CCo,2842,144.75,0.587,0,0,1366,450.13
$SM_GC,1.38,0.00,0.00,144.75,0.000,0.000,0.587,413,2213,1366,-11.44,0.37,450.13
$IRIDIUM_FIX,4722.92,-12254.47,260907,090909
$TT8_MAMPS,0.070564
$HUMID,2219
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.1,25.901
$10V_AH,10.1,16.841
$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,30.550,30.450,187.875,144.750,0.000,62.536,39.085,151.631,0.250,33.200,3742.800,35.881,487.246,1647.488,464.908,489.866,371.074,33.342,745.101,0.000,447.616,0.000,2.492
$DEVICE_MAMPS,199.420,69.030,679.562,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.914,0.000,0.000,0.000,0.000,0.000,0.000,3776.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,262
$CFSIZE,260231168,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,074515,4739.353,-12252.933,12,1.2,12,18.3