version: 66.02
glider: 117
mission: 4
dive: 171
start: 9 29 107 3 54 3
data:
$ID,117
$MISSION,4
$DIVE,171
$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,-20530.99
$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,34
$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,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
$GPS1,034720,4739.535,-12252.200,12,1.9,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-60.4
$GPS2,035257,4739.562,-12252.163,9,2.0,9,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.147
$KALMAN_X,22289.2,5.1,-180.4,-21454.1,139.7
$KALMAN_Y,7484.8,116.0,-150.4,-7874.8,242.9
$MHEAD_RNG_PITCHd_Wd,206.9,345,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.68,-97.8,0.0,0.0,0,89,0.00,0.00,-67.05,0.000,2,0.000,0.000,414,2186,2580
$GC,92,-1.68,-97.8,2.1,-3.1,11,160,13.35,2.58,-46.30,0.000,4,0.199,0.074,2523,808,3602
$GC,193,-1.68,-97.8,6.4,-9.3,27,200,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2203,3604
$GC,266,-1.68,-97.8,13.5,-9.1,38,272,0.00,2.53,0.00,0.000,4,0.000,0.058,2523,3599,3604
$GC,311,-1.68,-97.8,18.0,-9.8,45,317,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2198,3604
$GC,387,-1.68,-97.8,25.1,-9.2,53,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2199,3605
$GC,578,-1.68,-97.8,42.5,-9.2,68,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2199,3605
$GC,768,-1.68,-97.8,60.6,-9.7,83,773,0.00,2.53,0.00,0.000,4,0.000,0.056,2523,3597,3605
$GC,800,-1.68,-97.8,64.3,-11.5,85,805,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2198,3605
$GC,1002,-1.68,-97.8,84.4,-9.8,101,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2198,3605
$GC,1191,-1.68,-97.8,103.0,-9.3,116,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,3605
$STATE,1382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1382,begin apogee
$GC,1387,-0.38,0.0,121.1,9.7,131,1469,1.45,0.00,77.80,0.682,6,0.107,0.000,2808,2074,3202
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1472,1.68,97.8,123.8,0.0,138,1557,2.12,0.00,76.45,0.662,6,0.063,0.000,3267,2074,2802
$GC,1746,1.71,120.1,104.4,7.5,160,1771,0.00,2.62,16.70,0.678,4,0.000,0.054,3267,3475,2712
$GC,1838,1.71,122.3,96.6,8.8,167,1842,0.00,2.42,0.00,0.000,6,0.000,0.036,3267,2086,2711
$GC,2033,1.73,135.6,79.9,8.1,182,2047,0.00,0.00,11.57,0.690,6,0.000,0.000,3267,2086,2649
$GC,2234,1.73,135.6,61.8,9.2,198,2239,0.00,2.53,0.00,0.000,4,0.000,0.055,3267,3479,2648
$GC,2366,1.73,135.6,48.6,10.0,207,2372,0.00,2.42,0.00,0.000,6,0.000,0.036,3267,2080,2648
$GC,2561,1.73,135.6,29.0,9.9,223,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2080,2648
$GC,2757,1.75,152.1,11.1,7.9,245,2776,0.00,2.58,12.43,0.668,4,0.000,0.054,3267,3482,2582
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,1.2,1.020658
$STATE,2913,end surface coast,CONTROL_FINISHED_OK
$STATE,2913,begin surface
$SM_CCo,2938,161.65,0.580,0,0,1163,500.17
$SM_GC,1.19,0.00,0.00,161.65,0.000,0.000,0.580,412,2187,1163,-11.44,-0.37,500.17
$IRIDIUM_FIX,4719.74,-12251.79,290907,060635
$TT8_MAMPS,0.028379
$HUMID,2199
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.7,31.869
$10V_AH,10.2,20.892
$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,30.475,29.900,194.950,161.650,0.000,62.157,29.933,110.472,0.250,0.000,0.000,9.705,490.281,1747.160,482.578,443.293,304.440,33.352,757.010,0.000,440.946,0.000,2.490
$DEVICE_MAMPS,199.420,74.399,689.533,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6449,269
$CFSIZE,260231168,252121088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,044701,4739.455,-12252.238,39,2.0,44,18.3