version: 66.02
glider: 117
mission: 4
dive: 193
start: 9 30 107 1 24 11
data:
$ID,117
$MISSION,4
$DIVE,193
$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,-21087.771
$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,44
$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
$GPS1,011647,4739.458,-12253.079,13,2.7,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.5
$GPS2,012305,4739.539,-12253.001,18,2.3,37,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,-0.079
$KALMAN_X,23497.6,103.2,-18.4,-23964.1,61.8
$KALMAN_Y,9112.9,134.2,56.7,-9769.0,54.0
$MHEAD_RNG_PITCHd_Wd,220.9,285,-27.7,-8.889
$D_GRID,117
$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,-2.20,-53.0,0.0,0.0,0,107,0.00,0.00,-84.68,0.000,2,0.000,0.000,410,2214,2888
$GC,110,-2.25,-95.0,2.3,-4.2,14,154,12.60,2.67,-24.98,0.000,4,0.199,0.071,2402,799,3592
$GC,161,-2.25,-97.8,5.3,-7.6,22,167,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2192,3593
$GC,232,-2.25,-97.8,13.1,-14.0,33,239,0.00,2.53,0.00,0.000,4,0.000,0.058,2402,3592,3594
$GC,278,-2.25,-97.8,19.4,-14.3,40,284,0.00,2.40,0.00,0.000,6,0.000,0.035,2402,2200,3594
$GC,347,-2.25,-97.8,29.0,-13.8,46,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2200,3594
$GC,538,-2.25,-97.8,55.7,-13.9,61,542,0.00,2.53,0.00,0.000,4,0.000,0.057,2402,3597,3595
$GC,575,-2.25,-97.8,61.6,-14.9,63,583,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2207,3595
$GC,772,-2.25,-97.8,88.7,-13.9,79,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2206,3594
$GC,963,-2.25,-97.8,115.2,-13.8,94,967,0.00,2.62,0.00,0.000,4,0.000,0.067,2402,798,3594
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,980,-0.38,0.0,117.2,14.1,94,1060,2.12,0.00,75.78,0.680,6,0.123,0.000,2811,2074,3202
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1063,2.25,97.8,121.2,0.0,101,1149,2.67,2.60,76.43,0.662,4,0.060,0.057,3392,3479,2803
$GC,1281,2.25,97.8,104.7,11.8,118,1286,0.00,2.45,0.00,0.000,6,0.000,0.036,3392,2073,2801
$GC,1477,2.25,97.8,82.7,11.2,133,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2073,2801
$GC,1667,2.25,97.8,61.2,11.2,148,1672,0.00,2.53,0.00,0.000,4,0.000,0.054,3392,3479,2801
$GC,1824,2.25,97.8,44.0,10.8,159,1832,0.00,2.45,0.00,0.000,6,0.000,0.035,3392,2085,2801
$GC,2021,2.25,97.8,24.4,9.8,175,2025,0.00,2.53,0.00,0.000,4,0.000,0.054,3392,3479,2801
$GC,2080,2.25,97.8,18.8,9.0,179,2086,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,2077,2800
$GC,2152,2.25,97.8,11.8,10.5,190,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2077,2801
$STATE,2221,end climb,SURFACE_DEPTH_REACHED
$STATE,2221,begin surface coast
$FINISH,0.5,1.022170
$STATE,2275,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2299,184.43,0.575,0,0,1163,500.17
$SM_GC,1.07,0.00,0.00,184.43,0.000,0.000,0.575,409,2219,1163,-11.45,0.57,500.17
$IRIDIUM_FIX,4722.92,-12251.79,300907,040431
$TT8_MAMPS,0.028379
$HUMID,2174
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.4,999.0
$24V_AH,23.7,33.563
$10V_AH,10.2,21.397
$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,30.850,35.025,152.200,184.425,0.000,64.346,29.724,115.666,0.250,0.000,0.000,38.318,398.034,1305.013,463.975,410.690,313.301,33.358,713.931,0.000,381.006,0.000,2.488
$DEVICE_MAMPS,199.420,71.331,680.329,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6454,209
$CFSIZE,260231168,251568128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,020637,4739.451,-12253.197,12,1.1,28,18.3