version: 66.02
glider: 117
mission: 4
dive: 121
start: 9 27 107 2 13 40
data:
$ID,117
$MISSION,4
$DIVE,121
$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,-19367.879
$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,38
$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
$GPS1,020555,4739.413,-12252.287,26,1.4,43,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.4
$GPS2,021233,4739.431,-12252.271,11,1.5,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,-0.046
$KALMAN_X,21850.1,-95.2,-139.4,-21089.3,47.1
$KALMAN_Y,9945.6,-167.2,-148.5,-10294.6,152.6
$MHEAD_RNG_PITCHd_Wd,239.1,1163,-20.3,-8.889
$D_GRID,125
$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,-97.8,0.0,0.0,0,75,0.00,0.00,-49.10,0.000,2,0.000,0.000,411,2213,2440
$GC,78,-1.68,-97.8,2.1,-2.7,8,151,13.38,2.65,-51.38,0.000,4,0.199,0.073,2527,795,3603
$GC,403,-1.68,-97.8,31.1,-10.1,50,408,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2193,3606
$GC,605,-1.68,-97.8,51.6,-10.1,66,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,3606
$GC,798,-1.68,-97.8,71.4,-10.4,81,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2193,3606
$GC,985,-1.68,-97.8,91.3,-10.1,96,990,0.00,2.55,0.00,0.000,4,0.000,0.060,2526,3601,3606
$GC,1017,-1.68,-97.8,94.8,-10.4,98,1023,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2198,3606
$GC,1220,-1.68,-97.8,113.0,-8.7,114,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2198,3606
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1324,-0.38,0.0,120.8,7.9,122,1406,1.50,0.00,78.20,0.673,6,0.110,0.000,2815,2075,3202
$STATE,1407,end apogee,CONTROL_FINISHED_OK
$STATE,1407,begin climb
$GC,1409,1.68,97.8,123.4,0.0,129,1495,2.10,2.60,76.12,0.656,4,0.062,0.054,3272,3478,2803
$GC,1509,1.76,157.4,121.3,5.3,137,1562,0.00,2.45,46.38,0.650,6,0.000,0.035,3272,2087,2559
$GC,1759,1.76,157.4,94.1,11.5,157,1763,0.00,2.55,0.00,0.000,4,0.000,0.055,3272,3475,2557
$GC,1805,1.76,157.4,88.6,12.0,160,1809,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,2077,2557
$GC,2006,1.76,157.4,67.2,10.4,176,2010,0.00,2.55,0.00,0.000,4,0.000,0.055,3272,3477,2557
$GC,2091,1.76,157.4,58.0,10.8,182,2098,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,2077,2556
$GC,2287,1.76,157.4,37.1,10.8,198,2291,0.00,2.55,0.00,0.000,4,0.000,0.055,3272,3483,2557
$GC,2326,1.76,157.4,32.6,11.4,201,2330,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2076,2556
$GC,2525,1.76,157.4,12.7,9.2,222,2532,0.00,2.62,0.00,0.000,4,0.000,0.067,3272,677,2556
$GC,2558,1.76,157.4,9.6,10.1,227,2564,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,2085,2556
$STATE,2614,end climb,SURFACE_DEPTH_REACHED
$STATE,2615,begin surface coast
$FINISH,2.4,1.020444
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2704,134.88,0.580,0,0,1366,450.13
$SM_GC,1.18,0.00,0.00,134.88,0.000,0.000,0.580,414,2209,1366,-11.44,0.28,450.13
$IRIDIUM_FIX,4722.92,-12249.11,270907,050540
$TT8_MAMPS,0.071331
$HUMID,2204
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.1,27.660
$10V_AH,10.1,18.285
$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,30.550,35.575,200.700,134.875,0.000,60.313,38.931,131.955,0.250,29.050,3361.950,11.227,460.611,1570.003,435.668,453.866,346.820,33.351,713.724,0.000,432.601,0.000,2.500
$DEVICE_MAMPS,198.653,72.865,673.426,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.915,0.000,0.000,0.000,0.000,0.000,0.000,3391.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6483,245
$CFSIZE,260231168,253571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,030145,4739.432,-12252.552,12,2.0,12,18.3