version: 66.02
glider: 117
mission: 4
dive: 176
start: 9 29 107 8 56 40
data:
$ID,117
$MISSION,4
$DIVE,176
$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,-20663.615
$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,42
$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
$GPS1,084933,4739.401,-12253.272,11,1.7,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.0
$GPS2,085533,4739.394,-12253.291,16,1.7,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,0.021
$KALMAN_X,22765.0,85.6,304.5,-23893.8,-81.0
$KALMAN_Y,8027.8,196.9,252.3,-9206.7,1.8
$MHEAD_RNG_PITCHd_Wd,66.0,1118,-20.3,-8.889
$D_GRID,119
$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,-97.8,0.0,0.0,0,84,0.00,0.00,-61.50,0.000,2,0.000,0.000,412,2212,2481
$GC,87,-1.68,-97.8,2.1,-3.4,10,155,13.35,2.50,-47.00,0.000,4,0.199,0.068,2525,3591,3602
$GC,406,-1.68,-97.8,30.3,-10.8,52,413,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2205,3605
$GC,602,-1.68,-97.8,51.3,-10.8,68,606,0.00,2.50,0.00,0.000,4,0.000,0.056,2524,3590,3605
$GC,723,-1.68,-97.8,64.2,-10.1,77,727,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2201,3605
$GC,917,-1.68,-97.8,83.1,-9.6,92,921,0.00,2.50,0.00,0.000,4,0.000,0.056,2524,3587,3605
$GC,970,-1.68,-97.8,88.8,-11.6,96,974,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2197,3606
$GC,1165,-1.68,-97.8,107.4,-9.3,111,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2196,3605
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1295,-0.38,0.0,119.8,9.7,121,1377,1.48,0.00,77.95,0.679,6,0.105,0.000,2812,2072,3202
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1380,1.68,97.8,122.4,0.0,128,1465,2.17,2.67,76.78,0.658,4,0.064,0.066,3271,686,2803
$GC,1493,1.73,134.4,118.2,6.7,137,1527,0.00,2.45,28.10,0.661,6,0.000,0.035,3271,2071,2653
$GC,1725,1.73,134.4,95.2,11.0,156,1729,0.00,2.55,0.00,0.000,4,0.000,0.058,3271,3480,2651
$GC,1856,1.73,134.4,80.1,12.0,165,1863,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2084,2651
$GC,2052,1.73,134.4,59.8,10.1,181,2055,0.00,2.50,0.00,0.000,4,0.000,0.054,3272,3475,2650
$GC,2122,1.73,134.4,52.6,10.1,186,2130,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2082,2650
$GC,2319,1.73,134.4,34.3,9.6,202,2323,0.00,2.50,0.00,0.000,4,0.000,0.054,3272,3475,2650
$GC,2477,1.73,134.4,17.8,10.3,215,2484,0.00,2.42,0.00,0.000,6,0.000,0.035,3272,2076,2650
$GC,2549,1.73,134.4,11.4,9.5,226,2556,0.00,2.53,0.00,0.000,4,0.000,0.054,3271,3474,2650
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,3.0,1.020875
$STATE,2667,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2691,173.43,0.577,0,0,1163,500.17
$SM_GC,1.27,0.00,0.00,173.43,0.000,0.000,0.577,410,2187,1163,-11.45,-0.37,500.17
$IRIDIUM_FIX,4722.92,-12104.41,290907,111121
$TT8_MAMPS,0.028379
$HUMID,2182
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.7,32.258
$10V_AH,10.2,21.009
$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,30.625,39.625,182.825,173.425,0.000,60.365,30.537,124.827,0.250,0.000,0.000,16.956,457.631,1540.671,480.047,463.049,314.931,33.359,759.197,0.000,452.840,0.000,2.490
$DEVICE_MAMPS,198.653,68.263,678.795,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6450,244
$CFSIZE,260231168,252006400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,094529,4739.267,-12253.044,10,2.7,29,18.3