version: 66.02
glider: 117
mission: 4
dive: 152
start: 9 28 107 9 30 40
data:
$ID,117
$MISSION,4
$DIVE,152
$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,-20085.854
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,092315,4739.397,-12253.033,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-60.7
$GPS2,092933,4739.397,-12253.067,12,1.7,18,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,0.091
$KALMAN_X,21223.3,50.0,157.7,-21892.0,-179.2
$KALMAN_Y,7382.0,-95.9,89.2,-8098.9,-192.9
$MHEAD_RNG_PITCHd_Wd,45.7,840,-20.3,-8.889
$D_GRID,117
$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,20,-1.68,-97.8,0.0,0.0,0,90,0.00,0.00,-67.72,0.000,2,0.000,0.000,410,2206,2598
$GC,93,-1.68,-97.8,2.3,-4.4,11,149,13.38,2.53,-34.58,0.000,4,0.199,0.068,2525,3597,3603
$GC,288,-1.68,-97.8,20.8,-10.9,41,292,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2199,3605
$GC,483,-1.68,-97.8,39.2,-8.7,56,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3606
$GC,674,-1.68,-97.8,58.1,-10.2,71,678,0.00,2.53,0.00,0.000,4,0.000,0.056,2525,3594,3606
$GC,724,-1.68,-97.8,63.9,-11.0,74,732,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2199,3606
$GC,921,-1.68,-97.8,83.8,-10.7,90,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3606
$GC,1111,-1.68,-97.8,102.8,-9.6,105,1116,0.00,2.53,0.00,0.000,4,0.000,0.056,2525,3594,3606
$GC,1170,-1.68,-97.8,108.9,-10.2,109,1174,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2199,3606
$STATE,1256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1256,begin apogee
$GC,1262,-0.38,0.0,117.8,10.1,116,1344,1.48,0.00,78.15,0.674,6,0.107,0.000,2811,2073,3201
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1347,1.68,97.8,120.4,0.0,123,1428,2.15,0.00,76.05,0.655,6,0.064,0.000,3267,2074,2802
$GC,1617,1.71,118.1,104.7,7.7,145,1641,0.00,2.62,15.32,0.680,4,0.000,0.053,3267,3476,2719
$GC,1832,1.71,121.1,85.7,8.7,161,1840,0.00,2.45,1.70,0.787,6,0.000,0.035,3267,2090,2708
$GC,2028,1.72,129.0,69.4,8.4,177,2040,0.00,0.00,6.00,0.717,6,0.000,0.000,3267,2090,2676
$GC,2229,1.72,129.0,51.6,9.0,193,2233,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3479,2676
$GC,2399,1.72,129.0,35.9,8.9,205,2407,0.00,2.47,0.00,0.000,6,0.000,0.035,3267,2077,2676
$GC,2596,1.73,133.6,19.2,8.6,221,2609,0.00,2.60,3.40,0.740,4,0.000,0.054,3267,3476,2657
$GC,2635,1.73,137.0,15.8,8.7,227,2642,0.00,2.42,2.50,0.753,6,0.000,0.035,3267,2078,2643
$GC,2709,1.77,166.1,10.5,7.1,238,2740,0.00,2.72,22.38,0.642,4,0.000,0.068,3267,680,2523
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,3.2,1.020481
$STATE,2824,end surface coast,CONTROL_FINISHED_OK
$STATE,2824,begin surface
$SM_CCo,2849,154.85,0.576,0,0,1162,500.17
$SM_GC,1.08,0.00,0.00,154.85,0.000,0.000,0.576,410,2202,1162,-11.45,0.08,500.17
$IRIDIUM_FIX,4722.92,-12251.79,280907,121252
$TT8_MAMPS,0.028379
$HUMID,2194
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.9,999.0
$24V_AH,23.7,30.394
$10V_AH,10.2,20.456
$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,30.600,35.550,205.500,154.850,0.000,61.480,35.330,134.281,0.250,0.000,0.000,18.405,471.258,1661.847,484.861,459.925,335.123,33.347,763.350,0.000,449.819,0.000,2.491
$DEVICE_MAMPS,199.420,68.263,786.942,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6446,256
$CFSIZE,260231168,252600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,102146,4739.377,-12252.790,8,3.3,27,18.3