version: 66.02
glider: 117
mission: 4
dive: 97
start: 9 26 107 2 57 10
data:
$ID,117
$MISSION,4
$DIVE,97
$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,450
$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,-18757.539
$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,22
$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,2
$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
$GPS1,024615,4739.519,-12252.547,8,1.5,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.5
$GPS2,025603,4739.488,-12252.517,17,1.6,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.051
$KALMAN_X,22133.9,-52.0,-72.4,-21786.7,51.2
$KALMAN_Y,11604.4,-241.2,-136.9,-11784.6,114.8
$MHEAD_RNG_PITCHd_Wd,237.6,856,-20.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,82,0.00,0.00,-55.20,0.000,2,0.000,0.000,411,2118,2564
$GC,85,-1.68,-97.8,2.3,-3.5,9,146,13.40,2.70,-38.67,0.000,4,0.199,0.067,2524,3578,3603
$GC,306,-1.68,-97.8,22.0,-10.0,42,310,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2202,3605
$GC,508,-1.68,-97.8,41.8,-10.5,58,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2202,3605
$GC,698,-1.68,-97.8,61.4,-10.7,73,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2202,3605
$GC,888,-1.68,-97.8,81.1,-9.9,88,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2202,3606
$GC,1077,-1.68,-97.8,99.3,-9.9,103,1081,0.00,2.62,0.00,0.000,4,0.000,0.067,2524,795,3605
$GC,1115,-1.68,-97.8,103.5,-10.9,105,1122,0.00,2.47,0.00,0.000,6,0.000,0.037,2524,2186,3605
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1302,-0.38,0.0,120.9,9.5,120,1384,1.48,0.00,77.30,0.679,6,0.104,0.000,2813,2067,3203
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1387,1.68,97.8,123.0,0.0,127,1472,2.10,0.00,75.62,0.657,6,0.064,0.000,3270,2067,2802
$GC,1661,1.71,116.2,105.6,7.8,149,1677,0.00,0.00,13.82,0.686,6,0.000,0.000,3270,2067,2728
$GC,1862,1.73,132.8,89.5,7.9,165,1879,0.00,2.62,12.70,0.685,4,0.000,0.055,3270,3483,2660
$GC,1947,1.73,132.8,81.0,10.6,171,1951,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2094,2659
$GC,2142,1.73,132.8,62.0,9.3,186,2146,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3476,2659
$GC,2174,1.73,132.8,58.8,9.9,188,2178,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,2078,2659
$GC,2376,1.73,134.3,40.6,8.8,204,2380,0.00,2.58,0.00,0.000,4,0.000,0.056,3270,3482,2659
$GC,2414,1.73,134.3,36.8,9.7,206,2421,0.00,2.47,0.00,0.000,6,0.000,0.035,3271,2081,2658
$GC,2610,1.73,134.3,19.1,9.1,222,2617,0.00,2.55,0.00,0.000,4,0.000,0.056,3270,3482,2659
$GC,2649,1.73,134.3,15.5,9.2,228,2656,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2078,2658
$GC,2721,1.74,144.8,9.5,8.3,239,2740,0.00,2.60,8.90,0.683,4,0.000,0.055,3271,3476,2611
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,4.6,1.021613
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2966,148.43,0.584,0,0,1366,450.13
$SM_GC,1.40,0.00,0.00,148.43,0.000,0.000,0.584,413,2188,1366,-11.44,-0.31,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,060635
$TT8_MAMPS,0.075166
$HUMID,2231
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.1,25.492
$10V_AH,10.1,16.548
$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,30.700,35.300,188.350,148.425,0.000,100.506,111.856,140.323,0.750,107.930,3700.070,17.164,502.079,1828.100,447.413,480.348,473.430,33.341,730.699,0.000,452.509,0.000,2.491
$DEVICE_MAMPS,199.420,67.496,686.465,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.131,0.000,0.000,0.000,0.000,0.000,0.000,3808.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,272
$CFSIZE,260231168,254332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,034951,4739.419,-12252.830,13,2.0,13,18.3