version: 66.02
glider: 117
mission: 4
dive: 153
start: 9 28 107 10 29 23
data:
$ID,117
$MISSION,4
$DIVE,153
$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,-20121.516
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,102146,4739.377,-12252.790,8,3.3,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.1
$GPS2,102817,4739.386,-12252.799,15,3.0,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.101
$KALMAN_X,21188.4,33.5,46.9,-21397.0,-156.5
$KALMAN_Y,7245.6,-115.3,-10.5,-7865.5,-173.1
$MHEAD_RNG_PITCHd_Wd,42.6,518,-20.3,-8.889
$D_GRID,123
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.68,-97.8,0.0,0.0,0,89,0.00,0.00,-67.25,0.000,2,0.000,0.000,411,2203,2583
$GC,92,-1.68,-97.8,2.3,-4.1,11,148,13.35,2.58,-37.03,0.000,4,0.198,0.069,2527,3591,3602
$GC,398,-1.68,-97.8,31.1,-10.0,50,405,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2205,3604
$GC,594,-1.68,-97.8,50.9,-10.2,66,599,0.00,2.50,0.00,0.000,4,0.000,0.056,2527,3593,3605
$GC,647,-1.68,-97.8,57.0,-12.0,70,651,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2197,3605
$GC,849,-1.68,-97.8,78.2,-10.3,86,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2196,3605
$GC,1039,-1.68,-97.8,98.2,-10.6,101,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,3605
$GC,1229,-1.68,-97.8,117.8,-10.1,116,1233,0.00,2.53,0.00,0.000,4,0.000,0.057,2527,3598,3605
$STATE,1251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1251,begin apogee
$GC,1259,-0.38,0.0,120.6,10.6,117,1340,1.45,0.00,77.72,0.680,6,0.111,0.000,2809,2081,3202
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,1.68,97.8,123.5,0.0,124,1429,2.12,2.70,76.18,0.656,4,0.066,0.065,3270,677,2802
$GC,1461,1.71,118.3,118.8,7.6,133,1481,0.00,2.50,15.62,0.672,6,0.000,0.035,3269,2073,2718
$GC,1670,1.71,122.0,101.1,8.7,150,1677,0.00,2.62,2.25,0.772,4,0.000,0.057,3270,3479,2704
$GC,1874,1.71,122.0,81.4,9.5,165,1879,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2077,2703
$GC,2077,1.72,128.3,64.3,8.5,181,2089,0.00,2.58,4.70,0.729,4,0.000,0.054,3270,3466,2678
$GC,2183,1.73,134.5,55.1,8.5,189,2195,0.00,2.42,4.78,0.723,6,0.000,0.035,3270,2076,2653
$GC,2384,1.73,134.5,37.5,9.2,205,2388,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3481,2652
$GC,2541,1.73,134.5,22.9,9.2,216,2548,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2089,2652
$GC,2745,1.78,176.9,6.6,6.3,244,2776,0.00,0.00,29.02,0.637,2,0.000,0.000,3270,2088,2498
$STATE,2777,end climb,SURFACE_DEPTH_REACHED
$STATE,2777,begin surface coast
$FINISH,2.7,1.020685
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2897,148.05,0.575,0,0,1163,500.17
$SM_GC,1.10,0.00,0.00,148.05,0.000,0.000,0.575,414,2217,1163,-11.44,0.48,500.17
$IRIDIUM_FIX,4722.92,-12251.79,280907,131309
$TT8_MAMPS,0.028379
$HUMID,2199
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.7,30.470
$10V_AH,10.2,20.479
$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,30.525,35.525,210.275,148.050,0.000,61.210,36.224,134.489,0.250,0.000,0.000,35.032,486.788,1660.456,462.390,524.965,332.376,33.346,765.222,0.000,493.782,0.000,2.491
$DEVICE_MAMPS,197.886,69.030,772.369,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.471,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6422,264
$CFSIZE,260231168,252579840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,112125,4739.425,-12252.514,24,1.2,42,18.3