version: 66.02
glider: 117
mission: 4
dive: 156
start: 9 28 107 13 28 20
data:
$ID,117
$MISSION,4
$DIVE,156
$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,-20187.139
$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,31
$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
$GPS1,132041,4739.455,-12253.195,11,2.7,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-60.7
$GPS2,132714,4739.430,-12253.143,14,1.4,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,0.046
$KALMAN_X,21369.8,13.3,-189.5,-21751.6,48.1
$KALMAN_Y,6854.6,-158.6,-222.9,-7136.5,-79.9
$MHEAD_RNG_PITCHd_Wd,58.9,927,-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,-67.65,0.000,2,0.000,0.000,412,2202,2590
$GC,93,-1.68,-97.8,2.2,-3.8,11,161,13.25,2.65,-44.65,0.000,4,0.196,0.073,2524,805,3603
$GC,370,-1.68,-97.8,23.8,-9.8,51,378,0.00,2.47,0.00,0.000,6,0.000,0.035,2525,2200,3605
$GC,567,-1.68,-97.8,43.0,-9.9,67,571,0.00,2.53,0.00,0.000,4,0.000,0.059,2524,3600,3606
$GC,606,-1.68,-97.8,47.2,-10.7,70,611,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2203,3606
$GC,801,-1.68,-97.8,66.3,-9.7,85,806,0.00,2.53,0.00,0.000,4,0.000,0.058,2523,3597,3606
$GC,839,-1.68,-97.8,70.4,-10.9,87,847,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2197,3606
$GC,1036,-1.68,-97.8,89.3,-9.7,103,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2197,3606
$GC,1225,-1.68,-97.8,108.4,-9.4,118,1229,0.00,2.55,0.00,0.000,4,0.000,0.058,2524,3603,3606
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1317,-0.38,0.0,117.5,11.2,124,1398,1.45,0.00,77.78,0.676,6,0.109,0.000,2808,2078,3202
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1401,1.68,97.8,120.2,0.0,131,1483,2.15,0.00,76.12,0.655,6,0.064,0.000,3272,2078,2802
$GC,1670,1.70,112.2,103.6,8.0,153,1685,0.00,2.60,10.65,0.693,4,0.000,0.054,3272,3469,2744
$GC,1800,1.72,124.0,92.8,8.2,163,1813,0.00,2.42,8.80,0.701,6,0.000,0.036,3272,2073,2696
$GC,2001,1.72,124.0,75.4,9.2,179,2005,0.00,2.55,0.00,0.000,4,0.000,0.054,3272,3482,2695
$GC,2141,1.72,124.0,62.1,9.6,189,2145,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,2076,2695
$GC,2336,1.73,133.6,45.0,8.3,204,2349,0.00,2.55,7.12,0.706,4,0.000,0.054,3272,3476,2656
$GC,2406,1.73,133.6,38.4,9.0,209,2414,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2086,2656
$GC,2603,1.73,133.6,20.5,9.5,225,2607,0.00,2.53,0.00,0.000,4,0.000,0.054,3272,3480,2656
$GC,2755,1.73,138.9,6.5,8.6,247,2768,0.00,2.45,3.90,0.730,6,0.000,0.035,3272,2071,2635
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,3.8,1.020987
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2866,begin surface
$SM_CCo,2888,172.98,0.578,0,0,1163,500.17
$SM_GC,1.19,0.00,0.00,172.98,0.000,0.000,0.578,409,2214,1163,-11.46,0.40,500.17
$IRIDIUM_FIX,4722.92,-12254.47,280907,161657
$TT8_MAMPS,0.028379
$HUMID,2180
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.0,999.0
$24V_AH,23.7,30.709
$10V_AH,10.2,20.550
$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,30.475,40.450,184.375,172.975,0.000,64.110,34.521,136.211,0.250,0.000,0.000,31.795,487.256,1677.581,481.428,499.145,339.957,33.337,776.150,0.000,476.028,0.000,2.492
$DEVICE_MAMPS,196.352,72.865,730.184,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6435,264
$CFSIZE,260231168,252497920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,142029,4739.466,-12252.748,13,4.0,32,18.3