version: 66.02
glider: 117
mission: 4
dive: 227
start: 10 1 107 11 19 18
data:
$ID,117
$MISSION,4
$DIVE,227
$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,602.45679
$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,-21935.787
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,110535,4739.369,-12252.804,16,4.3,35,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.4
$GPS2,111809,4739.428,-12252.798,14,1.2,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.050
$KALMAN_X,31713.5,310.5,306.0,-32453.6,-49.2
$KALMAN_Y,16529.1,293.3,213.6,-17703.8,-63.9
$MHEAD_RNG_PITCHd_Wd,268.1,509,-24.2,-8.889
$D_GRID,122
$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,-1.95,-69.4,0.0,0.0,0,127,0.00,0.00,-102.88,0.000,2,0.000,0.000,406,2186,2793
$GC,131,-1.98,-97.8,2.1,-3.8,17,186,12.95,2.60,-34.72,0.000,4,0.198,0.076,2461,804,3602
$GC,298,-1.98,-97.8,17.9,-13.2,43,305,0.00,2.45,0.00,0.000,6,0.000,0.037,2461,2203,3602
$GC,368,-1.98,-97.8,27.5,-14.1,50,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2203,3603
$GC,559,-1.98,-97.8,52.2,-12.4,65,563,0.00,2.53,0.00,0.000,4,0.000,0.059,2461,3598,3603
$GC,631,-1.98,-97.8,61.4,-12.4,70,635,0.00,2.40,0.00,0.000,6,0.000,0.036,2461,2204,3603
$GC,826,-1.98,-97.8,86.4,-12.5,85,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2204,3603
$GC,1017,-1.98,-97.8,110.1,-12.7,100,1021,0.00,2.62,0.00,0.000,4,0.000,0.068,2461,797,3603
$GC,1054,-1.98,-97.8,115.5,-13.7,102,1062,0.00,2.47,0.00,0.000,6,0.000,0.037,2461,2196,3603
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1103,-0.38,0.0,121.3,13.0,106,1185,1.83,0.00,74.78,0.689,6,0.114,0.000,2812,2068,3202
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1188,1.98,97.8,124.6,0.0,113,1273,2.42,2.62,77.07,0.670,4,0.060,0.054,3332,3480,2803
$GC,1306,2.01,119.3,120.4,7.0,122,1330,0.00,2.47,16.75,0.684,6,0.000,0.035,3332,2087,2715
$GC,1527,2.01,119.3,100.0,9.8,140,1532,0.00,2.53,0.00,0.000,4,0.000,0.054,3332,3477,2715
$GC,1573,2.01,119.3,95.1,11.0,143,1577,0.00,2.45,0.00,0.000,6,0.000,0.036,3332,2073,2715
$GC,1768,2.01,119.3,75.1,10.7,158,1773,0.00,2.55,0.00,0.000,4,0.000,0.054,3332,3483,2715
$GC,1814,2.01,119.3,70.3,10.4,161,1818,0.00,2.45,0.00,0.000,6,0.000,0.036,3332,2075,2715
$GC,2010,2.01,119.3,49.8,11.2,176,2014,0.00,2.53,0.00,0.000,4,0.000,0.054,3332,3476,2715
$GC,2267,2.01,119.3,24.5,9.1,195,2271,0.00,2.42,0.00,0.000,6,0.000,0.036,3332,2079,2715
$GC,2470,2.05,154.2,8.5,5.9,221,2501,0.00,2.62,26.35,0.652,4,0.000,0.054,3332,3480,2573
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,0.3,1.022855
$STATE,2592,end surface coast,CONTROL_FINISHED_OK
$STATE,2592,begin surface
$SM_CCo,2617,218.10,0.570,0,0,745,602.46
$SM_GC,0.98,0.00,0.00,218.10,0.000,0.000,0.570,405,2187,745,-11.48,-0.37,602.46
$IRIDIUM_FIX,4722.92,-12251.79,011007,151534
$TT8_MAMPS,0.028379
$HUMID,2146
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.6,36.284
$10V_AH,10.2,22.203
$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,30.550,40.175,194.950,218.100,0.000,172.026,254.466,0.000,0.250,0.000,0.000,14.149,443.042,1641.845,554.530,440.094,542.564,33.346,831.714,0.000,434.189,0.000,2.489
$DEVICE_MAMPS,197.886,75.933,688.766,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6450,240
$CFSIZE,260231168,250658816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011007,120720,4739.333,-12253.250,11,2.0,11,18.3