version: 66.02
glider: 117
mission: 4
dive: 166
start: 9 28 107 23 19 9
data:
$ID,117
$MISSION,4
$DIVE,166
$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,-20441.939
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,231209,4739.522,-12252.417,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.5
$GPS2,231802,4739.511,-12252.404,10,1.3,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,0.020
$KALMAN_X,21898.3,109.2,24.1,-21667.3,-166.1
$KALMAN_Y,6846.4,74.5,40.0,-7476.9,-113.8
$MHEAD_RNG_PITCHd_Wd,257.3,999,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,90,0.00,0.00,-67.45,0.000,2,0.000,0.000,412,2181,2581
$GC,93,-1.68,-97.8,2.1,-3.8,11,160,13.32,2.65,-43.88,0.000,4,0.198,0.069,2525,3604,3603
$GC,219,-1.68,-97.8,9.9,-9.3,31,226,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2203,3604
$GC,291,-1.68,-97.8,17.1,-9.4,42,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3605
$GC,362,-1.68,-97.8,23.8,-9.8,50,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3605
$GC,554,-1.68,-97.8,42.7,-10.0,65,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3606
$GC,741,-1.68,-97.8,62.0,-9.9,80,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3606
$GC,931,-1.68,-97.8,80.7,-9.8,95,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3606
$GC,1120,-1.68,-97.8,99.8,-9.9,110,1124,0.00,2.53,0.00,0.000,4,0.000,0.058,2525,3602,3606
$GC,1144,-1.68,-97.8,102.6,-10.5,111,1152,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2201,3606
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1331,-0.38,0.0,121.3,10.2,126,1413,1.48,0.00,77.68,0.693,6,0.107,0.000,2811,2075,3202
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1416,1.68,97.8,124.1,0.0,133,1502,2.10,2.60,75.80,0.675,4,0.063,0.054,3269,3475,2802
$GC,1534,1.74,140.5,119.8,6.3,142,1572,0.00,2.47,32.80,0.670,6,0.000,0.035,3269,2084,2629
$GC,1761,1.74,140.5,99.0,9.6,160,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2084,2626
$GC,1951,1.74,140.5,80.0,10.4,175,1955,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3476,2626
$GC,2036,1.74,140.5,70.7,10.8,181,2040,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2077,2625
$GC,2238,1.74,140.5,51.8,8.9,197,2242,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3481,2625
$GC,2371,1.74,140.5,38.9,9.4,207,2375,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2076,2625
$GC,2566,1.74,140.5,20.8,9.2,222,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2076,2625
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,1.1,1.020074
$STATE,2803,end surface coast,CONTROL_FINISHED_OK
$STATE,2803,begin surface
$SM_CCo,2826,167.15,0.589,0,0,1162,500.17
$SM_GC,1.05,0.00,0.00,167.15,0.000,0.000,0.589,411,2215,1162,-11.45,0.42,500.17
$IRIDIUM_FIX,4719.74,-12251.79,290907,020201
$TT8_MAMPS,0.028379
$HUMID,2180
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.2,999.0
$24V_AH,23.7,31.495
$10V_AH,10.2,20.784
$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,30.375,25.450,186.275,167.150,0.000,62.478,36.206,113.536,0.250,0.000,0.000,15.790,471.715,1680.763,463.644,448.275,313.546,33.346,740.519,0.000,439.724,0.000,2.490
$DEVICE_MAMPS,197.886,69.030,693.368,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6458,257
$CFSIZE,260231168,252248064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,001007,4739.467,-12252.949,15,1.4,31,18.3