version: 66.02
glider: 117
mission: 4
dive: 197
start: 9 30 107 5 3 11
data:
$ID,117
$MISSION,4
$DIVE,197
$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,-21214.631
$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,26
$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
$GPS1,045511,4739.532,-12253.079,12,3.5,31,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-52.9
$GPS2,050205,4739.631,-12252.960,15,3.0,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,-0.151
$KALMAN_X,24673.5,257.0,-43.2,-25220.2,268.7
$KALMAN_Y,10433.6,333.5,-59.3,-11004.6,288.8
$MHEAD_RNG_PITCHd_Wd,205.2,429,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,107,0.00,0.00,-83.38,0.000,2,0.000,0.000,412,2214,2841
$GC,111,-1.68,-97.8,2.1,-3.7,14,159,13.25,0.00,-30.58,0.000,6,0.196,0.000,2527,2215,3603
$GC,225,-1.68,-97.8,8.3,-6.9,32,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,297,-1.68,-97.8,14.8,-9.5,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,375,-1.68,-97.8,22.7,-10.1,53,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,565,-1.68,-97.8,42.0,-9.9,68,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,755,-1.68,-97.8,61.3,-10.3,83,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,944,-1.68,-97.8,80.3,-9.7,98,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2215,3605
$GC,1133,-1.68,-97.8,98.4,-9.4,113,1137,0.00,2.47,0.00,0.000,4,0.000,0.059,2527,3589,3605
$GC,1165,-1.68,-97.8,101.7,-10.5,115,1169,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2190,3605
$STATE,1352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1352,begin apogee
$GC,1358,-0.38,0.0,119.9,9.7,130,1440,1.48,0.00,78.25,0.691,6,0.108,0.000,2813,2075,3202
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1443,1.68,97.8,122.5,0.0,137,1528,2.12,0.00,76.78,0.669,6,0.064,0.000,3272,2076,2802
$GC,1717,1.70,107.8,105.6,8.3,159,1729,0.00,0.00,7.47,0.718,6,0.000,0.000,3272,2076,2762
$GC,1918,1.71,115.0,88.8,8.5,175,1931,0.00,2.53,5.12,0.742,4,0.000,0.054,3272,3463,2732
$GC,2081,1.71,115.0,73.1,9.4,187,2089,0.00,2.42,0.00,0.000,6,0.000,0.035,3272,2088,2733
$GC,2278,1.72,131.0,56.5,7.9,203,2295,0.00,2.53,12.30,0.693,4,0.000,0.054,3272,3466,2666
$GC,2354,1.72,131.0,49.0,10.5,208,2362,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2080,2666
$GC,2551,1.72,131.0,30.2,9.2,224,2555,0.00,2.50,0.00,0.000,4,0.000,0.054,3272,3468,2666
$GC,2642,1.72,131.0,21.1,9.9,230,2649,0.00,2.42,0.00,0.000,6,0.000,0.035,3272,2082,2666
$STATE,2818,end climb,SURFACE_DEPTH_REACHED
$STATE,2818,begin surface coast
$FINISH,0.9,1.021909
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2902,169.38,0.588,0,0,1163,500.17
$SM_GC,1.05,0.00,0.00,169.38,0.000,0.000,0.588,409,2198,1163,-11.46,-0.06,500.17
$IRIDIUM_FIX,4722.92,-12249.11,300907,070744
$TT8_MAMPS,0.028379
$HUMID,2174
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.8,999.0
$24V_AH,23.7,33.859
$10V_AH,10.2,21.488
$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,30.425,20.025,179.925,169.375,0.000,64.437,34.586,149.876,0.250,0.000,0.000,35.686,480.397,1721.145,473.696,481.075,359.122,33.347,751.846,0.000,451.879,0.000,2.489
$DEVICE_MAMPS,195.585,61.360,741.689,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6448,265
$CFSIZE,260231168,251461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,055509,4739.556,-12253.019,12,1.5,12,18.3