version: 66.02
glider: 117
mission: 4
dive: 208
start: 9 30 107 15 38 11
data:
$ID,117
$MISSION,4
$DIVE,208
$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,-21491.375
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,153029,4739.424,-12253.140,12,2.3,31,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-56.1
$GPS2,153705,4739.500,-12253.054,12,4.4,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.206,-0.030
$KALMAN_X,26835.8,178.0,-109.8,-27351.8,65.8
$KALMAN_Y,12630.8,188.4,-12.3,-13344.4,34.2
$MHEAD_RNG_PITCHd_Wd,79.9,816,-20.3,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,110,0.00,0.00,-84.90,0.000,2,0.000,0.000,412,2218,2844
$GC,113,-1.68,-97.8,2.0,-3.7,14,162,13.32,2.55,-30.23,0.000,4,0.199,0.071,2523,3590,3602
$GC,413,-1.68,-97.8,29.7,-11.8,54,417,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2197,3604
$GC,615,-1.68,-97.8,50.0,-10.0,70,620,0.00,2.53,0.00,0.000,4,0.000,0.056,2523,3594,3604
$GC,648,-1.68,-97.8,53.4,-11.5,72,652,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2199,3604
$GC,850,-1.68,-97.8,74.3,-10.3,88,854,0.00,2.50,0.00,0.000,4,0.000,0.056,2523,3587,3604
$GC,922,-1.68,-97.8,82.4,-10.9,93,926,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2194,3604
$GC,1117,-1.68,-97.8,102.9,-10.7,108,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2194,3604
$STATE,1254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1254,begin apogee
$GC,1260,-0.38,0.0,117.4,10.5,119,1342,1.50,0.00,78.20,0.690,6,0.109,0.000,2813,2070,3202
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1345,1.68,97.8,120.4,0.0,126,1431,2.10,2.65,76.72,0.670,4,0.065,0.065,3268,688,2803
$GC,1497,1.70,109.2,113.5,8.2,138,1511,0.00,2.45,8.65,0.713,6,0.000,0.035,3268,2079,2756
$GC,1699,1.71,117.5,97.1,8.4,154,1712,0.00,2.55,6.10,0.728,4,0.000,0.057,3268,3476,2721
$GC,1857,1.72,130.4,84.0,8.1,166,1873,0.00,2.42,9.80,0.704,6,0.000,0.035,3268,2078,2669
$GC,2071,1.73,138.2,65.4,8.4,183,2084,0.00,2.55,5.78,0.727,4,0.000,0.054,3268,3480,2638
$GC,2183,1.73,138.2,54.9,9.7,191,2189,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2082,2637
$GC,2378,1.73,138.2,36.8,9.2,207,2382,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3478,2637
$GC,2456,1.73,138.2,28.7,10.4,212,2463,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2084,2637
$GC,2657,1.75,153.3,10.1,8.0,236,2676,0.00,2.55,11.38,0.676,4,0.000,0.054,3268,3475,2576
$STATE,2728,end climb,SURFACE_DEPTH_REACHED
$STATE,2728,begin surface coast
$FINISH,0.8,1.022586
$STATE,2820,end surface coast,CONTROL_FINISHED_OK
$STATE,2820,begin surface
$SM_CCo,2845,159.05,0.588,0,0,1163,500.17
$SM_GC,1.08,0.00,0.00,159.05,0.000,0.000,0.588,406,2182,1163,-11.47,-0.51,500.17
$IRIDIUM_FIX,4719.74,-12254.47,300907,181834
$TT8_MAMPS,0.028379
$HUMID,2160
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,92.2,999.0
$24V_AH,23.7,34.696
$10V_AH,10.2,21.736
$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,29.875,39.750,196.625,159.050,0.000,63.672,30.834,140.797,1.250,0.000,0.000,32.224,482.894,1622.097,472.231,508.403,344.310,33.349,771.424,0.000,482.422,0.000,2.492
$DEVICE_MAMPS,198.653,71.331,727.883,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6467,261
$CFSIZE,260231168,251187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300907,162923,4739.549,-12252.546,13,2.3,32,18.3