version: 66.02
glider: 117
mission: 4
dive: 201
start: 9 30 107 9 4 43
data:
$ID,117
$MISSION,4
$DIVE,201
$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,-21303.084
$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,43
$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
$GPS1,085639,4739.486,-12253.108,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.5
$GPS2,090337,4739.543,-12253.040,15,2.0,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,-0.093
$KALMAN_X,25754.3,397.1,226.6,-26806.6,128.9
$KALMAN_Y,11408.4,460.8,184.0,-12507.5,102.2
$MHEAD_RNG_PITCHd_Wd,215.2,247,-27.3,-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,22,-2.17,-54.6,0.0,0.0,0,115,0.00,0.00,-90.12,0.000,2,0.000,0.000,406,2211,2974
$GC,119,-2.22,-97.8,2.2,-4.1,15,162,12.55,0.00,-25.73,0.000,6,0.196,0.000,2410,2211,3602
$GC,227,-2.22,-97.8,9.8,-11.8,32,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2211,3605
$GC,299,-2.22,-97.8,19.4,-13.2,43,305,0.00,2.47,0.00,0.000,4,0.000,0.058,2409,3584,3605
$GC,364,-2.22,-97.8,29.2,-14.7,49,369,0.00,2.40,0.00,0.000,6,0.000,0.035,2409,2190,3605
$GC,566,-2.22,-97.8,57.2,-14.0,65,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2190,3605
$GC,757,-2.22,-97.8,83.4,-14.3,80,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2190,3604
$GC,946,-2.22,-97.8,109.7,-13.4,95,951,0.00,2.53,0.00,0.000,4,0.000,0.057,2409,3587,3605
$GC,971,-2.22,-97.8,113.5,-14.2,96,978,0.00,2.42,0.00,0.000,6,0.000,0.035,2409,2199,3605
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1007,-0.38,0.0,117.9,14.2,99,1090,2.15,0.00,78.00,0.694,6,0.123,0.000,2814,2075,3202
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1093,2.22,97.8,120.7,0.0,106,1179,2.65,2.58,76.60,0.673,4,0.062,0.055,3385,3463,2802
$GC,1197,2.23,103.4,114.9,8.3,114,1206,0.00,2.45,4.07,0.730,6,0.000,0.035,3385,2089,2780
$GC,1394,2.23,103.4,93.4,11.1,130,1398,0.00,2.50,0.00,0.000,4,0.000,0.054,3385,3466,2778
$GC,1485,2.23,103.4,83.2,10.8,136,1492,0.00,2.45,0.00,0.000,6,0.000,0.035,3385,2077,2778
$GC,1681,2.23,103.4,62.2,10.6,152,1685,0.00,2.53,0.00,0.000,4,0.000,0.054,3385,3470,2778
$GC,1732,2.23,103.4,56.6,11.3,155,1740,0.00,2.45,0.00,0.000,6,0.000,0.035,3385,2080,2778
$GC,1929,2.23,103.4,35.2,10.5,171,1933,0.00,2.50,0.00,0.000,4,0.000,0.055,3385,3468,2778
$GC,2013,2.23,103.4,25.8,11.1,177,2021,0.00,2.42,0.00,0.000,6,0.000,0.035,3385,2087,2778
$GC,2216,2.23,103.4,5.4,9.7,204,2223,0.00,2.50,0.00,0.000,4,0.000,0.055,3385,3466,2778
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,0.4,1.022433
$STATE,2282,end surface coast,CONTROL_FINISHED_OK
$STATE,2283,begin surface
$SM_CCo,2307,181.07,0.583,0,0,1162,500.17
$SM_GC,0.90,0.00,0.00,181.07,0.000,0.000,0.583,405,2193,1162,-11.47,-0.23,500.17
$IRIDIUM_FIX,4722.92,-12309.48,300907,111137
$TT8_MAMPS,0.028379
$HUMID,2155
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.3,999.0
$24V_AH,23.7,34.159
$10V_AH,10.2,21.576
$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,30.725,34.600,158.675,181.075,0.000,62.479,37.101,151.601,0.250,0.000,0.000,31.805,400.402,1295.619,473.096,404.329,362.287,33.354,723.700,0.000,380.110,0.000,2.489
$DEVICE_MAMPS,195.585,58.292,730.184,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6438,214
$CFSIZE,260231168,251367424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,094657,4739.352,-12253.333,11,1.9,11,18.3