version: 66.02
glider: 117
mission: 4
dive: 151
start: 9 28 107 8 32 58
data:
$ID,117
$MISSION,4
$DIVE,151
$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,-20066.822
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,082555,4739.437,-12253.302,39,1.4,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.2
$GPS2,083151,4739.438,-12253.337,14,1.6,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,0.072
$KALMAN_X,21330.6,52.3,227.0,-22405.7,-107.4
$KALMAN_Y,7532.3,-73.5,173.2,-8282.1,-175.0
$MHEAD_RNG_PITCHd_Wd,51.3,1168,-20.3,-8.889
$D_GRID,119
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,90,0.00,0.00,-67.45,0.000,2,0.000,0.000,412,2195,2604
$GC,93,-1.68,-97.8,2.4,-4.7,11,148,13.32,2.55,-34.00,0.000,4,0.199,0.067,2523,3594,3603
$GC,288,-1.68,-97.8,21.0,-9.8,41,292,0.00,2.42,0.00,0.000,6,0.000,0.034,2523,2192,3604
$GC,483,-1.68,-97.8,40.4,-10.2,56,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,3605
$GC,673,-1.68,-97.8,60.1,-10.4,71,678,0.00,2.53,0.00,0.000,4,0.000,0.056,2524,3590,3606
$GC,724,-1.68,-97.8,65.8,-10.8,74,732,0.00,2.42,0.00,0.000,6,0.000,0.034,2523,2201,3606
$GC,920,-1.68,-97.8,85.3,-10.0,90,925,0.00,2.50,0.00,0.000,4,0.000,0.056,2524,3590,3605
$GC,1006,-1.68,-97.8,94.7,-10.8,96,1012,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2186,3606
$GC,1201,-1.68,-97.8,113.9,-10.1,112,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2186,3606
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1268,-0.38,0.0,120.2,10.0,117,1350,1.50,0.00,78.07,0.675,6,0.107,0.000,2815,2072,3203
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1353,1.68,97.8,122.7,0.0,124,1439,2.10,2.60,75.95,0.653,4,0.064,0.054,3269,3474,2803
$GC,1478,1.72,129.1,117.6,7.0,134,1507,0.00,2.42,24.02,0.660,6,0.000,0.035,3270,2091,2675
$GC,1698,1.72,129.1,98.4,9.0,151,1702,0.00,2.67,0.00,0.000,4,0.000,0.068,3270,677,2672
$GC,1717,1.72,129.1,96.6,9.1,152,1721,0.00,2.47,0.00,0.000,6,0.000,0.036,3270,2079,2673
$GC,1919,1.73,138.2,79.4,8.3,168,1932,0.00,2.55,6.57,0.711,4,0.000,0.057,3270,3474,2637
$GC,2117,1.73,138.2,60.0,10.3,183,2121,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2076,2637
$GC,2319,1.73,138.2,40.9,9.2,199,2323,0.00,2.53,0.00,0.000,4,0.000,0.054,3270,3474,2636
$GC,2443,1.73,138.2,29.1,9.2,208,2450,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2081,2636
$GC,2644,1.75,155.4,12.2,7.8,231,2662,0.00,0.00,13.02,0.663,6,0.000,0.000,3270,2081,2567
$GC,2729,1.81,201.3,7.2,6.1,244,2772,0.10,2.70,34.85,0.621,4,0.064,0.068,3294,680,2380
$STATE,2776,end climb,SURFACE_DEPTH_REACHED
$STATE,2776,begin surface coast
$FINISH,2.7,1.020740
$STATE,2810,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2836,136.65,0.571,0,0,1162,500.17
$SM_GC,1.14,0.00,0.00,136.65,0.000,0.000,0.571,410,2205,1162,-11.45,0.14,500.17
$IRIDIUM_FIX,4719.74,-12254.47,280907,111126
$TT8_MAMPS,0.028379
$HUMID,2181
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,94.7,999.0
$24V_AH,23.7,30.318
$10V_AH,10.2,20.434
$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,30.825,40.550,232.500,136.650,0.000,61.499,33.774,120.033,0.250,0.000,0.000,14.339,470.926,1620.897,472.482,477.246,318.056,33.339,774.391,0.000,469.229,0.000,2.492
$DEVICE_MAMPS,198.653,68.263,711.009,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6472,257
$CFSIZE,260231168,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,092315,4739.397,-12253.033,10,2.0,10,18.3