version: 66.02
glider: 117
mission: 4
dive: 209
start: 9 30 107 16 36 35
data:
$ID,117
$MISSION,4
$DIVE,209
$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,-21525.102
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,162923,4739.549,-12252.546,13,2.3,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.1
$GPS2,163529,4739.620,-12252.430,13,2.2,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.034,-0.150
$KALMAN_X,27083.4,140.8,-101.8,-26792.5,124.5
$KALMAN_Y,12951.5,149.4,-21.0,-13397.5,100.5
$MHEAD_RNG_PITCHd_Wd,174.6,286,-27.7,-8.889
$D_GRID,124
$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,-2.20,-53.0,0.0,0.0,0,110,0.00,0.00,-85.12,0.000,2,0.000,0.000,407,2182,2872
$GC,113,-2.24,-91.9,2.2,-4.5,14,157,12.68,2.62,-24.98,0.000,4,0.200,0.067,2406,3600,3579
$GC,387,-2.24,-91.9,34.9,-13.5,48,392,0.00,2.40,0.00,0.000,6,0.000,0.035,2405,2208,3581
$GC,590,-2.24,-91.9,62.4,-14.6,64,594,0.00,2.50,0.00,0.000,4,0.000,0.056,2405,3595,3581
$GC,635,-2.24,-91.9,69.6,-16.3,67,640,0.00,2.40,0.00,0.000,6,0.000,0.035,2405,2201,3582
$GC,831,-2.24,-91.9,98.6,-14.6,82,835,0.00,2.53,0.00,0.000,4,0.000,0.055,2405,3600,3582
$GC,877,-2.24,-91.9,105.4,-15.0,85,881,0.00,2.42,0.00,0.000,6,0.000,0.035,2405,2193,3581
$STATE,982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,982,begin apogee
$GC,987,-0.38,0.0,120.2,14.0,93,1068,2.15,0.00,73.57,0.701,6,0.122,0.000,2812,2069,3201
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1070,begin climb
$GC,1072,2.24,91.9,123.8,0.0,100,1154,2.70,2.65,72.25,0.675,4,0.061,0.065,3387,686,2826
$GC,1187,2.25,99.0,118.5,8.1,109,1197,0.00,2.47,5.40,0.729,6,0.000,0.035,3387,2088,2798
$GC,1394,2.25,99.0,97.8,10.3,126,1398,0.00,2.53,0.00,0.000,4,0.000,0.058,3387,3479,2796
$GC,1652,2.25,99.0,72.4,9.9,145,1656,0.00,2.42,0.00,0.000,6,0.000,0.036,3387,2081,2796
$GC,1847,2.25,99.0,52.2,10.8,160,1851,0.00,2.53,0.00,0.000,4,0.000,0.054,3387,3477,2796
$GC,1985,2.25,99.0,36.8,11.2,170,1989,0.00,2.42,0.00,0.000,6,0.000,0.035,3387,2080,2795
$GC,2183,2.25,99.0,14.9,10.7,189,2190,0.00,2.62,0.00,0.000,4,0.000,0.067,3387,675,2795
$GC,2249,2.25,99.0,8.1,10.2,199,2256,0.00,2.45,0.00,0.000,6,0.000,0.035,3387,2078,2795
$STATE,2293,end climb,SURFACE_DEPTH_REACHED
$STATE,2293,begin surface coast
$FINISH,4.5,1.022742
$STATE,2393,end surface coast,CONTROL_FINISHED_OK
$STATE,2393,begin surface
$SM_CCo,2417,200.57,0.584,0,0,1162,500.17
$SM_GC,0.99,0.00,0.00,200.57,0.000,0.000,0.584,413,2208,1162,-11.44,0.25,500.17
$IRIDIUM_FIX,4722.92,-12251.79,300907,191928
$TT8_MAMPS,0.028379
$HUMID,2161
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.7,34.769
$10V_AH,10.2,21.757
$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,31.825,35.325,151.225,200.575,0.000,58.416,27.736,119.969,0.750,0.000,0.000,33.096,423.746,1363.284,474.627,444.359,308.026,33.345,733.078,0.000,420.230,0.000,2.488
$DEVICE_MAMPS,200.187,67.496,729.417,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6469,221
$CFSIZE,260231168,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,172122,4739.514,-12252.270,14,3.0,33,18.3