version: 66.02
glider: 117
mission: 4
dive: 149
start: 9 28 107 6 26 4
data:
$ID,117
$MISSION,4
$DIVE,149
$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,-20040.74
$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,0
$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
$GPS1,061721,4739.274,-12252.716,11,1.5,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.2
$GPS2,062457,4739.277,-12252.738,13,1.5,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.192,0.080
$KALMAN_X,21622.8,5.4,150.4,-21831.3,159.8
$KALMAN_Y,7936.1,-61.6,155.6,-8975.4,0.3
$MHEAD_RNG_PITCHd_Wd,274.3,677,-20.3,-8.889
$D_GRID,125
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,84,0.00,0.00,-60.53,0.000,2,0.000,0.000,412,2184,2453
$GC,87,-1.68,-97.8,2.1,-3.9,10,154,13.35,2.62,-43.40,0.000,4,0.199,0.074,2524,807,3603
$GC,403,-1.68,-97.8,32.8,-9.9,50,411,0.00,2.47,0.00,0.000,6,0.000,0.036,2524,2201,3605
$GC,600,-1.68,-97.8,52.8,-9.8,66,604,0.00,2.58,0.00,0.000,4,0.000,0.062,2524,808,3605
$GC,705,-1.68,-97.8,63.7,-10.1,74,709,0.00,2.45,0.00,0.000,6,0.000,0.037,2524,2204,3606
$GC,907,-1.68,-97.8,84.3,-10.5,90,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2204,3606
$GC,1098,-1.68,-97.8,103.3,-9.7,105,1102,0.00,2.60,0.00,0.000,4,0.000,0.064,2524,805,3605
$GC,1157,-1.68,-97.8,109.4,-10.7,109,1161,0.00,2.45,0.00,0.000,6,0.000,0.038,2524,2203,3606
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1274,-0.38,0.0,121.1,10.2,118,1356,1.48,0.00,77.55,0.683,6,0.105,0.000,2812,2077,3202
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,1.68,97.8,123.6,0.0,125,1440,2.12,0.00,76.07,0.661,6,0.062,0.000,3265,2078,2803
$GC,1629,1.71,118.7,107.2,7.6,147,1653,0.00,2.62,15.70,0.684,4,0.000,0.057,3265,3476,2717
$GC,1724,1.71,118.7,98.4,9.8,154,1732,0.00,2.45,0.00,0.000,6,0.000,0.036,3265,2092,2716
$GC,1921,1.72,127.3,81.1,8.4,170,1934,0.00,2.67,6.50,0.716,4,0.000,0.067,3265,679,2681
$GC,1973,1.72,127.3,76.1,9.7,174,1977,0.00,2.47,0.00,0.000,6,0.000,0.036,3265,2082,2681
$GC,2175,1.73,136.1,58.9,8.4,190,2188,0.00,2.55,6.07,0.717,4,0.000,0.058,3266,3475,2647
$GC,2227,1.73,136.1,54.3,9.4,194,2231,0.00,2.45,0.00,0.000,6,0.000,0.035,3265,2072,2647
$GC,2429,1.73,136.1,35.8,9.0,210,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2071,2647
$GC,2621,1.73,136.1,18.7,9.6,226,2627,0.00,2.55,0.00,0.000,4,0.000,0.056,3265,3481,2647
$GC,2732,1.74,144.1,9.8,8.4,243,2745,0.00,2.42,6.05,0.706,6,0.000,0.036,3265,2080,2614
$GC,2812,1.88,254.2,5.5,2.2,255,2850,0.15,0.00,34.92,0.628,2,0.056,0.000,3309,2080,2425
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2851,begin surface coast
$FINISH,0.4,1.021846
$STATE,3180,end surface coast,CONTROL_FINISHED_OK
$STATE,3180,begin surface
$SM_CCo,3202,146.32,0.578,0,0,1162,500.17
$SM_GC,1.15,0.00,0.00,146.32,0.000,0.000,0.578,409,2215,1162,-11.46,0.42,500.17
$IRIDIUM_FIX,4722.92,-12251.79,280907,090946
$TT8_MAMPS,0.028379
$HUMID,2227
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.7,30.160
$10V_AH,10.2,20.386
$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,30.300,35.725,222.875,146.325,0.000,61.521,42.445,153.656,0.500,0.000,657.000,13.688,557.566,1837.339,485.228,546.319,389.139,33.339,803.179,0.000,528.125,0.000,2.491
$DEVICE_MAMPS,199.420,73.632,717.145,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,219.229,0.000,0.000,0.000,0.000,0.000,580.270,657.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,9580,311
$CFSIZE,260231168,252669952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,072259,4739.261,-12253.140,12,3.6,31,18.3