version: 66.02
glider: 117
mission: 4
dive: 103
start: 9 26 107 8 52 0
data:
$ID,117
$MISSION,4
$DIVE,103
$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,-18915.611
$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,33
$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,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
$GPS1,083929,4739.366,-12253.234,12,2.8,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.1
$GPS2,085053,4739.339,-12253.234,13,2.8,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.145
$KALMAN_X,22063.7,-32.9,93.4,-22795.0,-111.3
$KALMAN_Y,10860.7,-125.3,93.6,-11658.0,-157.2
$MHEAD_RNG_PITCHd_Wd,2.9,240,-27.4,-8.889
$D_GRID,119
$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,-2.17,-54.3,0.0,0.0,0,75,0.00,0.00,-49.15,0.000,2,0.000,0.000,409,2187,2441
$GC,78,-2.23,-97.8,2.2,-3.0,8,145,12.75,0.00,-47.83,0.000,6,0.203,0.000,2407,2188,3602
$GC,210,-2.23,-97.8,13.5,-14.6,29,217,0.00,2.58,0.00,0.000,4,0.000,0.063,2407,804,3603
$GC,262,-2.23,-97.8,20.3,-13.2,37,266,0.00,2.45,0.00,0.000,6,0.000,0.036,2407,2201,3603
$GC,464,-2.23,-97.8,48.6,-14.5,53,468,0.00,2.53,0.00,0.000,4,0.000,0.058,2407,3597,3604
$GC,571,-2.23,-97.8,65.1,-16.0,61,576,0.00,2.40,0.00,0.000,6,0.000,0.035,2407,2206,3605
$GC,767,-2.23,-97.8,94.6,-14.3,76,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2205,3604
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,947,-0.38,0.0,120.5,13.7,90,1030,2.10,0.00,77.25,0.675,6,0.121,0.000,2807,2068,3202
$STATE,1031,end apogee,CONTROL_FINISHED_OK
$STATE,1031,begin climb
$GC,1033,2.23,97.8,124.4,0.0,97,1119,2.67,2.62,75.57,0.657,4,0.060,0.064,3387,688,2802
$GC,1216,2.23,97.8,112.6,11.0,111,1224,0.00,2.50,0.00,0.000,6,0.000,0.035,3387,2077,2801
$GC,1413,2.23,97.8,94.3,9.8,127,1416,0.00,2.55,0.00,0.000,4,0.000,0.059,3387,3476,2801
$GC,1519,2.23,97.8,83.6,10.1,135,1524,0.00,2.42,0.00,0.000,6,0.000,0.036,3386,2088,2800
$GC,1714,2.23,97.8,64.4,9.7,150,1718,0.00,2.55,0.00,0.000,4,0.000,0.055,3387,3485,2801
$GC,1957,2.23,97.8,40.0,9.9,168,1965,0.00,2.47,0.00,0.000,6,0.000,0.035,3387,2082,2800
$GC,2154,2.23,102.0,23.2,8.4,184,2166,0.00,2.58,3.00,0.749,4,0.000,0.056,3387,3476,2785
$GC,2358,2.26,123.2,7.7,6.6,211,2383,0.00,2.42,15.98,0.653,6,0.000,0.035,3388,2078,2699
$STATE,2407,end climb,SURFACE_DEPTH_REACHED
$STATE,2407,begin surface coast
$FINISH,4.1,1.021757
$STATE,2514,end surface coast,CONTROL_FINISHED_OK
$STATE,2514,begin surface
$SM_CCo,2542,152.75,0.581,0,0,1367,450.13
$SM_GC,1.34,0.00,0.00,152.75,0.000,0.000,0.581,413,2217,1367,-11.44,0.48,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,121246
$TT8_MAMPS,0.073632
$HUMID,2196
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.6,999.0
$24V_AH,23.8,26.080
$10V_AH,10.1,16.982
$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,31.875,30.475,171.800,152.750,0.000,99.812,66.317,261.914,0.250,29.050,3486.950,33.017,443.311,1502.171,433.443,482.016,546.382,33.338,704.265,0.000,439.272,0.000,2.488
$DEVICE_MAMPS,203.255,63.661,748.592,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.838,0.000,0.000,0.000,0.000,0.000,0.000,3516.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6434,235
$CFSIZE,260231168,254136320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,093808,4739.425,-12253.149,39,1.2,39,18.3