version: 66.02
glider: 117
mission: 4
dive: 145
start: 9 28 107 2 20 11
data:
$ID,117
$MISSION,4
$DIVE,145
$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,500
$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,-19975.717
$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,27
$R_STBD_OVSHOOT,41
$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,3
$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
$GPS1,020823,4739.609,-12252.508,12,2.9,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.7
$GPS2,021905,4739.618,-12252.480,14,2.6,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.038,-0.149
$KALMAN_X,21114.4,-81.9,-178.4,-20584.8,4.4
$KALMAN_Y,8171.8,-128.9,-308.4,-8056.0,92.8
$MHEAD_RNG_PITCHd_Wd,147.4,297,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-2.20,-53.0,0.0,0.0,0,97,0.00,0.00,-60.72,0.000,2,0.000,0.000,410,2219,2453
$GC,100,-2.25,-97.8,2.0,-3.1,10,167,12.68,2.70,-44.12,0.000,4,0.202,0.071,2402,798,3603
$GC,310,-2.25,-97.8,26.9,-13.9,39,318,0.00,2.47,0.00,0.000,6,0.000,0.035,2402,2187,3605
$GC,507,-2.25,-97.8,54.6,-14.4,55,511,0.00,2.55,0.00,0.000,4,0.000,0.058,2402,3603,3606
$GC,565,-2.25,-97.8,63.3,-14.9,59,572,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2200,3606
$GC,761,-2.25,-97.8,92.2,-14.7,75,765,0.00,2.53,0.00,0.000,4,0.000,0.057,2402,3595,3606
$GC,832,-2.25,-97.8,103.0,-14.7,80,839,0.00,2.45,0.00,0.000,6,0.000,0.035,2403,2196,3606
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,969,-0.38,0.0,121.1,13.4,91,1052,2.15,0.00,77.82,0.676,6,0.121,0.000,2810,2072,3202
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1057,2.25,97.8,124.1,0.0,98,1142,2.65,2.65,75.50,0.660,4,0.059,0.063,3390,684,2802
$GC,1182,2.25,97.8,116.8,11.2,108,1186,0.00,2.47,0.00,0.000,6,0.000,0.035,3389,2087,2802
$GC,1385,2.25,97.8,95.2,10.6,124,1389,0.00,2.53,0.00,0.000,4,0.000,0.059,3390,3477,2801
$GC,1642,2.25,97.8,68.3,10.0,143,1646,0.00,2.42,0.00,0.000,6,0.000,0.035,3390,2081,2800
$GC,1844,2.25,97.8,48.7,9.5,159,1848,0.00,2.53,0.00,0.000,4,0.000,0.055,3390,3476,2800
$GC,1949,2.25,97.8,37.7,10.7,167,1953,0.00,2.45,0.00,0.000,6,0.000,0.035,3390,2073,2800
$GC,2145,2.25,97.8,18.9,9.5,183,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2073,2800
$GC,2217,2.25,98.5,12.7,8.8,194,2223,0.00,2.60,0.00,0.000,4,0.000,0.064,3390,679,2800
$GC,2242,2.25,98.5,10.2,10.3,198,2248,0.00,2.47,0.00,0.000,6,0.000,0.035,3391,2089,2800
$GC,2314,2.29,126.4,5.1,5.8,209,2321,0.00,0.00,4.93,0.710,2,0.000,0.000,3390,2089,2774
$STATE,2322,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,4.5,1.021778
$STATE,2439,end surface coast,CONTROL_FINISHED_OK
$STATE,2439,begin surface
$SM_CCo,2471,183.77,0.582,0,0,1163,500.17
$SM_GC,1.31,0.00,0.00,183.77,0.000,0.000,0.582,411,2212,1163,-11.45,0.34,500.17
$IRIDIUM_FIX,4722.92,-12251.79,280907,060643
$TT8_MAMPS,0.09204
$HUMID,2180
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,29.784
$10V_AH,10.0,20.090
$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,31.825,35.600,158.250,183.775,0.000,93.295,186.124,106.473,0.250,16.600,3372.400,34.692,411.311,1476.072,465.251,471.559,499.355,33.343,734.584,0.000,427.692,0.000,2.488
$DEVICE_MAMPS,202.488,71.331,710.242,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.476,0.000,0.000,0.000,0.000,0.000,2139.480,3389.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.394,51.000
$DATA_FILE_SIZE,6462,228
$CFSIZE,260231168,252833792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,030509,4739.503,-12252.256,9,1.9,9,18.3