version: 66.02
glider: 117
mission: 4
dive: 148
start: 9 28 107 5 23 39
data:
$ID,117
$MISSION,4
$DIVE,148
$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,-20026.424
$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,32
$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
$GPS1,051238,4739.408,-12252.312,40,1.4,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.3
$GPS2,052232,4739.319,-12252.460,12,1.4,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.001
$KALMAN_X,21551.3,-32.5,43.8,-21270.2,203.7
$KALMAN_Y,8110.3,-74.2,50.0,-8951.7,106.8
$MHEAD_RNG_PITCHd_Wd,251.5,965,-20.3,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.68,-97.8,0.0,0.0,0,91,0.00,0.00,-60.70,0.000,2,0.000,0.000,415,2180,2464
$GC,94,-1.68,-97.8,2.2,-3.6,10,156,13.35,2.62,-42.50,0.000,4,0.199,0.075,2524,805,3602
$GC,406,-1.68,-97.8,31.4,-10.4,50,410,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2207,3605
$GC,608,-1.68,-97.8,50.8,-10.2,66,612,0.00,2.60,0.00,0.000,4,0.000,0.062,2524,806,3606
$GC,666,-1.68,-97.8,57.3,-11.3,70,674,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2201,3605
$GC,863,-1.68,-97.8,78.0,-10.8,86,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2202,3606
$GC,1052,-1.68,-97.8,98.1,-10.8,101,1056,0.00,2.60,0.00,0.000,4,0.000,0.065,2524,802,3605
$GC,1096,-1.68,-97.8,103.0,-11.1,104,1104,0.00,2.47,0.00,0.000,6,0.000,0.037,2524,2202,3605
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1266,begin apogee
$GC,1271,-0.38,0.0,120.5,10.2,118,1353,1.48,0.00,77.12,0.685,6,0.107,0.000,2811,2076,3202
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1356,begin climb
$GC,1358,1.68,97.8,123.3,0.0,125,1439,2.15,0.00,76.00,0.664,6,0.063,0.000,3269,2077,2802
$GC,1626,1.70,106.8,107.4,8.3,147,1638,0.00,0.00,6.82,0.718,6,0.000,0.000,3270,2076,2766
$GC,1827,1.72,130.5,91.0,7.4,163,1852,0.00,2.60,18.12,0.677,4,0.000,0.057,3269,3477,2669
$GC,2011,1.72,130.5,73.5,9.4,177,2015,0.00,2.42,0.00,0.000,6,0.000,0.037,3270,2087,2669
$GC,2206,1.72,130.5,55.3,9.2,192,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2087,2669
$GC,2395,1.73,134.4,38.3,8.7,207,2402,0.00,2.58,2.25,0.780,4,0.000,0.055,3270,3475,2654
$GC,2470,1.73,134.4,31.7,9.4,212,2474,0.00,2.45,0.00,0.000,6,0.000,0.037,3269,2071,2654
$GC,2668,1.75,150.3,14.8,7.9,232,2687,0.00,2.60,12.23,0.673,4,0.000,0.055,3270,3478,2589
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,3.1,1.021271
$STATE,2976,end surface coast,CONTROL_FINISHED_OK
$STATE,2976,begin surface
$SM_CCo,3010,166.57,0.585,0,0,1163,500.17
$SM_GC,1.15,0.00,0.00,166.57,0.000,0.000,0.585,412,2185,1163,-11.44,-0.42,500.17
$IRIDIUM_FIX,4722.92,-12251.79,280907,090924
$TT8_MAMPS,0.090506
$HUMID,2202
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.2,30.079
$10V_AH,10.0,20.349
$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,30.625,30.300,192.550,166.575,0.000,103.258,71.729,149.058,0.750,24.910,3885.090,17.707,475.474,1873.822,473.030,505.027,455.412,33.340,756.822,0.000,478.255,0.000,2.491
$DEVICE_MAMPS,199.420,75.166,780.039,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.728,0.000,0.000,0.000,0.000,0.000,3452.680,3910.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,7.330,51.000
$DATA_FILE_SIZE,6432,279
$CFSIZE,260231168,252735488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,061721,4739.274,-12252.716,11,1.5,11,18.3