version: 66.02
glider: 117
mission: 4
dive: 106
start: 9 26 107 11 45 30
data:
$ID,117
$MISSION,4
$DIVE,106
$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,-19002.543
$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,34
$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
$GPS1,113659,4739.548,-12252.516,11,3.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.6
$GPS2,114423,4739.567,-12252.514,13,3.7,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,-0.092
$KALMAN_X,21989.9,-32.7,-109.1,-21621.4,-45.1
$KALMAN_Y,10647.9,-93.7,-143.0,-10825.0,-43.5
$MHEAD_RNG_PITCHd_Wd,108.6,233,-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,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,-49.10,0.000,2,0.000,0.000,409,2189,2457
$GC,78,-2.25,-97.8,2.3,-3.3,8,151,12.65,2.62,-50.33,0.000,4,0.202,0.068,2401,3598,3602
$GC,218,-2.25,-97.8,13.7,-14.7,30,225,0.00,2.42,0.00,0.000,6,0.000,0.035,2400,2199,3604
$GC,289,-2.25,-97.8,24.4,-14.6,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2199,3604
$GC,479,-2.25,-97.8,51.6,-14.4,54,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2199,3605
$GC,670,-2.25,-97.8,78.8,-14.9,69,674,0.00,2.53,0.00,0.000,4,0.000,0.056,2401,3597,3604
$GC,742,-2.25,-97.8,90.2,-14.7,74,746,0.00,2.42,0.00,0.000,6,0.000,0.035,2401,2193,3605
$GC,944,-2.25,-97.8,119.5,-13.9,90,948,0.00,2.55,0.00,0.000,4,0.000,0.056,2401,3601,3605
$STATE,955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,955,begin apogee
$GC,962,-0.38,0.0,121.3,14.1,91,1045,2.15,0.00,77.57,0.680,6,0.127,0.000,2807,2078,3202
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1049,2.25,97.8,124.9,0.0,98,1135,2.70,2.67,75.60,0.662,4,0.061,0.064,3391,673,2803
$GC,1253,2.25,97.8,109.5,10.8,114,1258,0.00,2.50,0.00,0.000,6,0.000,0.036,3391,2081,2801
$GC,1455,2.25,97.8,90.3,9.4,130,1459,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,3485,2800
$GC,1711,2.25,97.8,66.3,10.3,149,1719,0.00,2.47,0.00,0.000,6,0.000,0.035,3391,2079,2799
$GC,1908,2.25,97.8,48.0,9.0,165,1912,0.00,2.55,0.00,0.000,4,0.000,0.054,3391,3482,2800
$GC,2005,2.25,97.8,38.5,9.3,172,2013,0.00,2.47,0.00,0.000,6,0.000,0.035,3391,2080,2800
$GC,2202,2.26,101.3,21.8,8.5,188,2209,0.00,2.70,2.03,0.779,4,0.000,0.065,3391,680,2789
$GC,2315,2.27,116.8,12.4,7.1,202,2334,0.00,2.47,11.90,0.669,6,0.000,0.035,3391,2085,2724
$GC,2399,2.29,126.1,6.3,7.8,215,2413,0.00,2.55,6.82,0.687,4,0.000,0.058,3391,3473,2686
$STATE,2423,end climb,SURFACE_DEPTH_REACHED
$STATE,2423,begin surface coast
$FINISH,4.4,1.021216
$STATE,2438,end surface coast,CONTROL_FINISHED_OK
$STATE,2438,begin surface
$SM_CCo,2467,161.20,0.581,0,0,1366,450.13
$SM_GC,1.36,0.00,0.00,161.20,0.000,0.000,0.581,410,2183,1366,-11.45,-0.45,450.13
$IRIDIUM_FIX,4726.11,-12257.95,260907,141419
$TT8_MAMPS,0.070564
$HUMID,2198
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.7,26.348
$10V_AH,10.1,17.198
$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,31.950,40.450,173.925,161.200,0.000,63.270,32.331,157.181,0.500,33.210,3136.790,34.076,425.643,1395.973,451.798,458.459,369.386,33.347,718.140,0.000,418.461,0.000,2.489
$DEVICE_MAMPS,201.721,68.263,778.505,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.286,0.000,0.000,0.000,0.000,0.000,0.000,3170.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,221
$CFSIZE,260231168,254038016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,123032,4739.453,-12252.258,39,1.8,39,18.3