version: 66.02
glider: 117
mission: 4
dive: 114
start: 9 26 107 19 29 23
data:
$ID,117
$MISSION,4
$DIVE,114
$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,-19190.682
$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,33
$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
$GPS1,191733,4739.360,-12252.942,13,1.7,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.8
$GPS2,192817,4739.345,-12252.989,12,2.3,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.128
$KALMAN_X,22179.4,73.6,133.5,-22749.5,-70.7
$KALMAN_Y,10531.4,97.0,113.6,-11560.5,-76.8
$MHEAD_RNG_PITCHd_Wd,308.3,349,-27.7,-8.889
$D_GRID,120
$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,24,-2.20,-53.0,0.0,0.0,0,75,0.00,0.00,-48.95,0.000,2,0.000,0.000,411,2190,2452
$GC,78,-2.25,-97.8,2.3,-3.7,8,146,12.68,2.58,-47.40,0.000,4,0.203,0.073,2401,806,3601
$GC,395,-2.25,-97.8,41.7,-14.7,46,403,0.00,2.45,0.00,0.000,6,0.000,0.036,2401,2190,3604
$GC,592,-2.25,-97.8,69.9,-14.8,62,596,0.00,2.58,0.00,0.000,4,0.000,0.062,2401,802,3604
$GC,710,-2.25,-97.8,87.7,-15.9,71,714,0.00,2.45,0.00,0.000,6,0.000,0.037,2401,2203,3604
$GC,912,-2.25,-97.8,117.8,-14.3,87,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2203,3604
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,941,-0.38,0.0,121.4,14.2,89,1023,2.17,0.00,77.45,0.678,6,0.121,0.000,2814,2076,3202
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1026,2.25,97.8,124.9,0.0,96,1111,2.65,0.00,75.82,0.659,6,0.059,0.000,3391,2076,2802
$GC,1300,2.25,97.8,104.9,9.8,118,1304,0.00,2.60,0.00,0.000,4,0.000,0.063,3391,686,2800
$GC,1339,2.25,97.8,101.3,9.1,120,1345,0.00,2.45,0.00,0.000,6,0.000,0.035,3391,2080,2800
$GC,1534,2.25,97.8,83.5,9.0,136,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2080,2800
$GC,1725,2.25,97.8,65.4,9.8,151,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2080,2800
$GC,1914,2.25,97.8,47.7,9.2,166,1918,0.00,2.53,0.00,0.000,4,0.000,0.059,3391,3482,2800
$GC,2097,2.25,97.8,29.2,9.9,179,2105,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,2098,2800
$GC,2298,2.27,116.3,13.1,6.8,202,2318,0.00,2.58,13.65,0.664,4,0.000,0.055,3392,3478,2726
$GC,2569,2.37,192.5,5.9,0.3,243,2619,0.10,2.42,44.70,0.621,2,0.071,0.035,3419,2075,2477
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,0.6,1.021945
$STATE,2837,end surface coast,CONTROL_FINISHED_OK
$STATE,2837,begin surface
$SM_CCo,2864,124.10,0.580,0,0,1366,450.13
$SM_GC,1.35,0.00,0.00,124.10,0.000,0.000,0.580,412,2215,1366,-11.45,0.42,450.13
$IRIDIUM_FIX,4722.92,-12253.53,260907,232348
$TT8_MAMPS,0.071331
$HUMID,2240
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.8,27.041
$10V_AH,10.1,17.783
$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,31.350,25.425,211.625,124.100,0.000,99.394,143.777,148.544,0.500,4.150,3760.850,31.971,507.552,1676.803,432.725,530.899,512.295,33.344,725.897,0.000,491.846,0.000,2.489
$DEVICE_MAMPS,203.255,72.865,678.028,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,200.077,0.000,0.000,0.000,0.000,0.000,0.000,3765.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9592,284
$CFSIZE,260231168,253784064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,202017,4739.244,-12253.367,11,6.8,30,18.3