version: 66.02
glider: 117
mission: 4
dive: 174
start: 9 29 107 6 53 27
data:
$ID,117
$MISSION,4
$DIVE,174
$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,-20599.768
$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,30
$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
$GPS1,064259,4739.539,-12252.481,10,3.1,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.5
$GPS2,065220,4739.591,-12252.447,12,1.2,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.083
$KALMAN_X,22959.0,38.2,163.7,-22850.1,222.7
$KALMAN_Y,7972.4,187.7,163.2,-8694.6,153.6
$MHEAD_RNG_PITCHd_Wd,228.3,969,-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,20,-1.68,-97.8,0.0,0.0,0,84,0.00,0.00,-61.83,0.000,2,0.000,0.000,413,2192,2483
$GC,87,-1.68,-97.8,2.1,-3.6,10,149,13.35,2.60,-42.20,0.000,4,0.199,0.067,2526,3597,3603
$GC,400,-1.68,-97.8,29.6,-10.3,51,404,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2202,3605
$GC,602,-1.68,-97.8,50.0,-9.9,67,606,0.00,2.53,0.00,0.000,4,0.000,0.056,2526,3597,3606
$GC,681,-1.68,-97.8,58.1,-10.2,73,685,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2200,3606
$GC,883,-1.68,-97.8,77.7,-9.6,89,887,0.00,2.60,0.00,0.000,4,0.000,0.066,2526,801,3606
$GC,908,-1.68,-97.8,80.1,-9.6,91,913,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2207,3606
$GC,1111,-1.68,-97.8,98.7,-9.5,107,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2208,3606
$GC,1301,-1.68,-97.8,116.5,-9.1,122,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2207,3606
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1341,-0.38,0.0,120.2,9.8,125,1423,1.48,0.00,77.97,0.680,6,0.104,0.000,2815,2067,3202
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1427,1.68,97.8,122.6,0.0,132,1508,2.12,0.00,76.47,0.660,6,0.061,0.000,3269,2067,2803
$GC,1696,1.70,110.8,106.3,8.1,154,1712,0.00,2.62,9.65,0.700,4,0.000,0.055,3269,3475,2750
$GC,1814,1.70,110.8,95.8,9.2,163,1819,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2086,2749
$GC,2009,1.70,110.8,78.2,9.5,178,2013,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3480,2748
$GC,2100,1.70,110.8,69.2,9.3,184,2107,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2087,2748
$GC,2296,1.70,110.8,52.3,9.0,200,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2087,2748
$GC,2487,1.70,113.0,34.8,8.8,215,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2087,2748
$GC,2679,1.70,113.0,18.5,9.0,231,2685,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,3476,2748
$GC,2737,1.73,137.1,13.6,7.4,240,2763,0.00,2.42,19.77,0.650,6,0.000,0.035,3269,2074,2642
$GC,2828,1.80,192.2,7.5,5.5,254,2878,0.10,2.60,42.25,0.622,4,0.064,0.054,3293,3480,2417
$STATE,2891,end climb,SURFACE_DEPTH_REACHED
$STATE,2891,begin surface coast
$FINISH,2.2,1.020263
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2961,144.77,0.574,0,0,1162,500.17
$SM_GC,1.24,0.00,0.00,144.77,0.000,0.000,0.574,410,2191,1162,-11.45,-0.25,500.17
$IRIDIUM_FIX,4719.74,-12254.47,290907,101055
$TT8_MAMPS,0.028379
$HUMID,2196
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,32.101
$10V_AH,10.2,20.962
$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,30.825,34.975,226.125,144.775,0.000,99.680,74.436,173.457,0.250,0.000,0.000,18.497,490.803,1797.304,475.994,471.441,462.975,33.352,764.654,0.000,462.371,0.000,3.775
$DEVICE_MAMPS,198.653,66.729,699.504,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6422,271
$CFSIZE,260231168,252051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,074617,4739.554,-12252.807,9,6.5,28,18.3