version: 66.02
glider: 117
mission: 4
dive: 102
start: 9 26 107 7 53 36
data:
$ID,117
$MISSION,4
$DIVE,102
$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,-18881.965
$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,42
$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
$GPS1,074515,4739.353,-12252.933,12,1.2,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.3
$GPS2,075229,4739.342,-12252.918,10,2.2,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.112
$KALMAN_X,22101.4,-25.8,156.0,-22508.1,-101.6
$KALMAN_Y,11150.7,-152.9,112.4,-11933.7,-39.6
$MHEAD_RNG_PITCHd_Wd,298.2,423,-27.7,-8.889
$D_GRID,121
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.20,-53.0,0.0,0.0,0,75,0.00,0.00,-49.12,0.000,2,0.000,0.000,413,2213,2456
$GC,78,-2.25,-97.8,2.2,-3.3,8,145,12.75,2.67,-45.25,0.000,4,0.202,0.074,2402,805,3603
$GC,251,-2.25,-97.8,20.2,-14.3,35,255,0.00,2.42,0.00,0.000,6,0.000,0.037,2402,2190,3605
$GC,452,-2.25,-97.8,48.9,-14.4,51,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2190,3606
$GC,643,-2.25,-97.8,77.1,-14.9,66,647,0.00,2.55,0.00,0.000,4,0.000,0.058,2402,3597,3606
$GC,675,-2.25,-97.8,82.3,-16.1,68,679,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2198,3606
$GC,877,-2.25,-97.8,111.8,-14.3,84,881,0.00,2.62,0.00,0.000,4,0.000,0.066,2402,790,3606
$GC,903,-2.25,-97.8,115.6,-14.7,86,907,0.00,2.47,0.00,0.000,6,0.000,0.038,2402,2200,3606
$STATE,939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,944,-0.38,0.0,121.0,14.1,89,1027,2.17,0.00,77.38,0.677,6,0.121,0.000,2813,2062,3202
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1030,2.25,97.8,124.7,0.0,96,1111,2.70,0.00,75.75,0.658,6,0.059,0.000,3388,2063,2803
$GC,1299,2.25,97.8,105.6,9.9,118,1303,0.00,2.58,0.00,0.000,4,0.000,0.055,3388,3480,2801
$GC,1358,2.25,97.8,99.6,10.0,122,1362,0.00,2.42,0.00,0.000,6,0.000,0.035,3388,2088,2801
$GC,1560,2.25,97.8,81.3,9.2,138,1564,0.00,2.65,0.00,0.000,4,0.000,0.065,3388,675,2801
$GC,1592,2.25,97.8,78.1,9.7,140,1596,0.00,2.47,0.00,0.000,6,0.000,0.035,3388,2080,2801
$GC,1794,2.25,98.1,60.3,8.8,156,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2080,2801
$GC,1986,2.25,98.1,43.4,9.0,171,1990,0.00,2.53,0.00,0.000,4,0.000,0.058,3388,3476,2801
$GC,2063,2.25,98.1,35.4,10.1,176,2071,0.00,2.47,0.00,0.000,6,0.000,0.035,3388,2080,2801
$GC,2261,2.26,102.3,18.1,8.4,193,2267,0.00,0.00,3.15,0.747,6,0.000,0.000,3388,2080,2784
$GC,2333,2.29,125.4,12.8,6.3,204,2358,0.00,2.60,17.27,0.650,4,0.000,0.055,3388,3478,2690
$STATE,2428,end climb,SURFACE_DEPTH_REACHED
$STATE,2428,begin surface coast
$FINISH,4.1,1.021335
$STATE,2502,end surface coast,CONTROL_FINISHED_OK
$STATE,2502,begin surface
$SM_CCo,2531,155.70,0.581,0,0,1366,450.13
$SM_GC,1.40,0.00,0.00,155.70,0.000,0.000,0.581,409,2187,1366,-11.46,-0.37,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,101030
$TT8_MAMPS,0.072098
$HUMID,2219
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.1,25.986
$10V_AH,10.1,16.908
$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,31.975,35.350,173.550,155.700,0.000,64.164,36.575,145.406,0.250,29.050,3190.950,31.902,437.155,1489.659,439.154,423.439,360.785,33.338,687.239,0.000,387.558,0.000,2.488
$DEVICE_MAMPS,201.721,73.632,747.058,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.498,0.000,0.000,0.000,0.000,0.000,0.000,3220.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6462,230
$CFSIZE,260231168,254169088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,083929,4739.366,-12253.234,12,2.8,31,18.3