version: 66.02
glider: 117
mission: 4
dive: 179
start: 9 29 107 11 54 38
data:
$ID,117
$MISSION,4
$DIVE,179
$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,-20744.02
$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
$GPS1,114627,4739.340,-12252.794,16,2.0,16,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.5
$GPS2,115332,4739.336,-12252.793,14,1.8,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.129
$KALMAN_X,22358.8,19.6,-40.0,-22460.4,-246.0
$KALMAN_Y,7599.2,105.8,-22.7,-8522.8,-250.1
$MHEAD_RNG_PITCHd_Wd,33.5,545,-20.3,-8.889
$D_GRID,125
$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,21,-1.68,-97.8,0.0,0.0,0,91,0.00,0.00,-67.72,0.000,2,0.000,0.000,413,2216,2601
$GC,94,-1.68,-97.8,2.3,-3.7,11,156,13.27,2.65,-40.85,0.000,4,0.197,0.073,2524,795,3601
$GC,407,-1.68,-97.8,29.5,-10.6,52,411,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2193,3605
$GC,609,-1.68,-97.8,50.2,-10.2,68,613,0.00,2.58,0.00,0.000,4,0.000,0.064,2524,800,3605
$GC,663,-1.68,-97.8,55.9,-10.8,72,667,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2199,3605
$GC,857,-1.68,-97.8,75.5,-10.0,87,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2199,3605
$GC,1048,-1.68,-97.8,93.6,-9.5,102,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2199,3605
$GC,1236,-1.68,-97.8,110.9,-9.3,117,1240,0.00,2.53,0.00,0.000,4,0.000,0.059,2524,3603,3605
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1334,-0.38,0.0,120.5,10.5,124,1416,1.45,0.00,78.05,0.679,6,0.110,0.000,2808,2077,3202
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1420,1.68,97.8,123.6,0.0,131,1504,2.12,0.00,77.00,0.662,6,0.064,0.000,3268,2076,2802
$GC,1694,1.71,117.5,107.6,7.7,153,1717,0.00,2.62,14.55,0.687,4,0.000,0.054,3268,3476,2722
$GC,1881,1.71,117.5,89.8,10.2,167,1889,0.00,2.47,0.00,0.000,6,0.000,0.037,3268,2074,2721
$GC,2077,1.71,117.5,71.2,9.3,183,2082,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3475,2721
$GC,2123,1.71,117.5,67.0,9.3,186,2127,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2078,2720
$GC,2325,1.73,134.7,50.0,7.8,202,2343,0.00,2.58,13.10,0.677,4,0.000,0.054,3269,3480,2652
$GC,2528,1.73,134.7,31.9,9.4,217,2532,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2081,2650
$GC,2727,1.76,161.3,14.7,7.3,237,2752,0.00,2.62,20.12,0.647,4,0.000,0.054,3268,3476,2544
$GC,2772,1.79,182.4,11.6,7.6,244,2797,0.00,2.45,16.20,0.637,6,0.000,0.035,3268,2076,2457
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2850,begin surface coast
$FINISH,1.5,1.020852
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2951,146.62,0.577,0,0,1163,500.17
$SM_GC,1.20,0.00,0.00,146.62,0.000,0.000,0.577,409,2214,1163,-11.46,0.40,500.17
$IRIDIUM_FIX,4722.92,-12256.21,290907,141429
$TT8_MAMPS,0.028379
$HUMID,2180
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.7,32.488
$10V_AH,10.2,21.079
$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,30.425,35.650,219.025,146.625,0.000,61.679,40.793,162.876,0.250,0.000,0.000,31.752,490.476,1697.625,473.156,519.044,371.916,33.348,776.934,0.000,493.797,0.000,2.490
$DEVICE_MAMPS,197.119,72.865,687.232,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6456,268
$CFSIZE,260231168,251920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,124723,4739.488,-12252.593,13,7.6,32,18.3