version: 66.02
glider: 117
mission: 4
dive: 175
start: 9 29 107 7 58 13
data:
$ID,117
$MISSION,4
$DIVE,175
$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,-20646.031
$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,31
$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
$GPS1,074617,4739.554,-12252.807,9,6.5,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.6
$GPS2,075707,4739.562,-12252.835,40,1.7,45,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.101
$KALMAN_X,22882.6,63.7,268.9,-23384.8,88.4
$KALMAN_Y,8091.5,186.1,218.7,-8916.4,119.5
$MHEAD_RNG_PITCHd_Wd,222.6,491,-20.3,-8.889
$D_GRID,120
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,85,0.00,0.00,-61.45,0.000,2,0.000,0.000,410,2192,2493
$GC,88,-1.68,-97.8,2.2,-4.1,10,150,13.27,2.55,-40.78,0.000,4,0.197,0.067,2523,3598,3601
$GC,401,-1.68,-97.8,31.0,-11.0,50,405,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2203,3604
$GC,603,-1.68,-97.8,51.7,-10.0,66,607,0.00,2.50,0.00,0.000,4,0.000,0.055,2523,3597,3605
$GC,661,-1.68,-97.8,57.7,-10.9,70,668,0.00,2.45,0.00,0.000,6,0.000,0.034,2523,2196,3605
$GC,857,-1.68,-97.8,77.0,-9.4,86,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,3605
$GC,1048,-1.68,-97.8,95.1,-9.8,101,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,3605
$GC,1238,-1.68,-97.8,113.9,-9.9,116,1243,0.00,2.53,0.00,0.000,4,0.000,0.056,2523,3597,3605
$GC,1276,-1.68,-97.8,118.2,-10.8,118,1283,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2205,3605
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1299,-0.38,0.0,120.2,10.7,120,1381,1.50,0.00,77.72,0.678,6,0.107,0.000,2815,2065,3202
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,1.68,97.8,122.6,0.0,127,1466,2.12,0.00,76.45,0.657,6,0.063,0.000,3266,2066,2803
$GC,1654,1.71,119.9,106.7,7.5,149,1679,0.00,2.62,16.58,0.680,4,0.000,0.053,3266,3470,2713
$GC,1759,1.71,119.9,97.5,9.3,157,1763,0.00,2.42,0.00,0.000,6,0.000,0.036,3266,2082,2712
$GC,1954,1.73,134.1,80.0,8.0,172,1970,0.00,2.60,10.70,0.688,4,0.000,0.054,3266,3478,2655
$GC,2005,1.73,134.1,75.1,9.8,176,2009,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2077,2654
$GC,2207,1.73,134.1,54.8,9.9,192,2211,0.00,2.53,0.00,0.000,4,0.000,0.054,3266,3477,2653
$GC,2284,1.73,134.1,47.0,10.2,197,2292,0.00,2.45,0.00,0.000,6,0.000,0.035,3266,2083,2653
$GC,2481,1.73,134.1,29.3,9.2,213,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2083,2653
$GC,2674,1.73,137.0,12.8,8.7,234,2680,0.00,0.00,1.80,0.782,6,0.000,0.000,3266,2083,2643
$GC,2746,1.76,159.6,6.9,7.5,245,2770,0.00,0.00,17.38,0.646,6,0.000,0.000,3266,2083,2551
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,1.2,1.021079
$STATE,2854,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2877,158.02,0.579,0,0,1163,500.17
$SM_GC,1.19,0.00,0.00,158.02,0.000,0.000,0.579,412,2211,1163,-11.44,0.31,500.17
$IRIDIUM_FIX,4722.92,-12254.47,290907,111114
$TT8_MAMPS,0.028379
$HUMID,2190
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.8,32.184
$10V_AH,10.2,20.987
$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,30.250,30.300,200.625,158.025,0.000,102.606,182.149,130.185,0.250,0.000,0.000,45.636,481.871,1746.573,474.340,491.014,520.896,33.362,755.174,0.000,452.566,0.000,3.852
$DEVICE_MAMPS,197.119,66.729,781.573,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6447,262
$CFSIZE,260231168,252022784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,084933,4739.401,-12253.272,11,1.7,11,18.3