version: 66.02
glider: 117
mission: 4
dive: 199
start: 9 30 107 7 2 46
data:
$ID,117
$MISSION,4
$DIVE,199
$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,-21242.113
$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,40
$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
$GPS1,065545,4739.572,-12252.992,15,1.8,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.6
$GPS2,070139,4739.664,-12252.874,14,1.7,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,-0.142
$KALMAN_X,25313.0,344.7,98.8,-25980.3,266.5
$KALMAN_Y,11042.8,429.6,62.6,-11768.7,251.6
$MHEAD_RNG_PITCHd_Wd,208.9,549,-20.3,-8.889
$D_GRID,121
$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,-97.8,0.0,0.0,0,102,0.00,0.00,-79.22,0.000,2,0.000,0.000,407,2214,2788
$GC,105,-1.68,-97.8,2.2,-3.9,13,160,13.25,0.00,-34.83,0.000,6,0.195,0.000,2526,2216,3602
$GC,226,-1.68,-97.8,7.5,-6.2,32,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2216,3604
$GC,297,-1.68,-97.8,13.5,-8.9,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2216,3604
$GC,375,-1.68,-97.8,21.4,-10.1,54,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2216,3604
$GC,566,-1.68,-97.8,40.4,-9.9,69,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2216,3604
$GC,755,-1.68,-97.8,59.1,-9.8,84,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2216,3604
$GC,946,-1.68,-97.8,78.6,-11.0,99,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2216,3605
$GC,1134,-1.68,-97.8,98.5,-10.3,114,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2216,3604
$GC,1323,-1.68,-97.8,116.5,-9.5,129,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2216,3604
$STATE,1358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1358,begin apogee
$GC,1363,-0.38,0.0,120.3,9.8,132,1445,1.48,0.00,78.12,0.695,6,0.107,0.000,2812,2065,3202
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1448,1.68,97.8,123.2,0.0,139,1534,2.10,2.65,76.95,0.675,4,0.064,0.065,3267,684,2802
$GC,1600,1.70,112.4,116.0,8.0,151,1617,0.00,2.45,11.23,0.709,6,0.000,0.035,3267,2072,2742
$GC,1814,1.70,112.4,97.4,9.0,168,1818,0.00,2.55,0.00,0.000,4,0.000,0.059,3267,3474,2741
$GC,1931,1.70,112.4,86.9,9.2,176,1939,0.00,2.42,0.00,0.000,6,0.000,0.035,3267,2094,2741
$GC,2128,1.71,115.4,69.3,8.7,192,2132,0.00,0.00,1.67,0.824,6,0.000,0.000,3267,2094,2731
$GC,2317,1.71,115.4,52.3,9.0,207,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2094,2731
$GC,2508,1.72,123.6,35.5,8.4,222,2521,0.00,2.53,6.40,0.723,4,0.000,0.055,3267,3477,2696
$GC,2639,1.72,123.6,22.6,9.8,232,2644,0.00,2.40,0.00,0.000,6,0.000,0.036,3267,2079,2695
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,0.7,1.021982
$STATE,2895,end surface coast,CONTROL_FINISHED_OK
$STATE,2895,begin surface
$SM_CCo,2918,184.50,0.588,0,0,1162,500.17
$SM_GC,1.10,0.00,0.00,184.50,0.000,0.000,0.588,409,2219,1162,-11.45,0.54,500.17
$IRIDIUM_FIX,4722.92,-12330.77,300907,090912
$TT8_MAMPS,0.028379
$HUMID,2160
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.4,34.010
$10V_AH,10.2,21.532
$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,29.875,15.425,174.375,184.500,0.000,62.939,31.013,118.156,0.250,0.000,0.000,14.221,492.318,1741.116,473.107,458.282,323.334,33.353,748.601,0.000,452.099,0.000,2.489
$DEVICE_MAMPS,194.818,65.195,823.758,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6437,268
$CFSIZE,260231168,251412480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,075535,4739.568,-12252.951,12,8.2,31,18.3