version: 66.02
glider: 117
mission: 4
dive: 183
start: 9 29 107 15 44 8
data:
$ID,117
$MISSION,4
$DIVE,183
$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,-20859.992
$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,24
$R_STBD_OVSHOOT,44
$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
$GPS1,153637,4739.462,-12252.877,30,1.1,41,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.3
$GPS2,154302,4739.492,-12252.848,14,1.1,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,-0.033
$KALMAN_X,22492.5,-62.0,-228.4,-22388.6,84.6
$KALMAN_Y,7707.5,-77.8,-223.6,-7957.5,43.7
$MHEAD_RNG_PITCHd_Wd,82.5,558,-24.2,-8.889
$D_GRID,122
$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,19,begin dive
$GC,22,-1.94,-69.6,0.0,0.0,0,90,0.00,0.00,-66.43,0.000,2,0.000,0.000,410,2212,2573
$GC,93,-1.98,-97.8,2.3,-4.2,11,149,13.00,2.50,-36.10,0.000,4,0.199,0.068,2463,3593,3602
$GC,346,-1.98,-97.8,30.7,-12.0,43,353,0.00,2.45,0.00,0.000,6,0.000,0.035,2462,2195,3604
$GC,542,-1.98,-97.8,54.1,-12.7,59,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2194,3605
$GC,735,-1.98,-97.8,77.5,-12.7,74,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2194,3605
$GC,922,-1.98,-97.8,100.4,-11.9,89,926,0.00,2.50,0.00,0.000,4,0.000,0.056,2463,3583,3604
$GC,999,-1.98,-97.8,111.0,-13.2,94,1007,0.00,2.42,0.00,0.000,6,0.000,0.035,2463,2199,3604
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1086,-0.38,0.0,121.0,12.2,101,1168,1.83,0.00,77.78,0.679,6,0.113,0.000,2814,2073,3202
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1171,1.98,97.8,123.9,0.0,108,1257,2.40,2.67,76.80,0.660,4,0.061,0.066,3336,683,2802
$GC,1272,1.99,103.1,118.6,8.4,116,1284,0.00,2.47,4.07,0.723,6,0.000,0.035,3335,2074,2780
$GC,1472,1.99,103.1,99.7,9.5,132,1477,0.00,2.55,0.00,0.000,4,0.000,0.056,3335,3477,2778
$GC,1664,1.99,103.1,78.1,10.1,146,1668,0.00,2.42,0.00,0.000,6,0.000,0.036,3336,2088,2778
$GC,1866,1.99,103.1,58.3,9.7,162,1870,0.00,2.53,0.00,0.000,4,0.000,0.054,3335,3479,2778
$GC,1917,1.99,103.1,53.2,9.7,165,1924,0.00,2.45,0.00,0.000,6,0.000,0.035,3335,2086,2778
$GC,2113,1.99,103.1,34.8,9.7,181,2117,0.00,2.53,0.00,0.000,4,0.000,0.054,3336,3482,2777
$GC,2158,1.99,103.1,30.3,9.7,184,2166,0.00,2.45,0.00,0.000,6,0.000,0.035,3336,2083,2777
$GC,2359,2.01,125.1,11.4,7.0,207,2384,0.00,2.58,16.23,0.657,4,0.000,0.054,3336,3475,2690
$GC,2444,2.07,169.2,6.7,5.1,220,2476,0.00,2.42,26.50,0.630,2,0.000,0.035,3336,2079,2547
$STATE,2477,end climb,SURFACE_DEPTH_REACHED
$STATE,2477,begin surface coast
$FINISH,2.4,1.021086
$STATE,2529,end surface coast,CONTROL_FINISHED_OK
$STATE,2530,begin surface
$SM_CCo,2553,157.05,0.574,0,0,1162,500.17
$SM_GC,1.24,0.00,0.00,157.05,0.000,0.000,0.574,411,2211,1162,-11.45,0.31,500.17
$IRIDIUM_FIX,4719.74,-12251.79,290907,181851
$TT8_MAMPS,0.028379
$HUMID,2193
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.7,32.793
$10V_AH,10.2,21.169
$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,31.300,35.300,201.375,157.050,0.000,60.558,30.630,135.606,0.250,0.000,0.000,31.305,430.314,1447.577,469.685,446.535,331.450,33.344,742.965,0.000,423.930,0.000,2.487
$DEVICE_MAMPS,199.420,68.263,722.514,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6469,233
$CFSIZE,260231168,251826176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290907,163023,4739.518,-12252.413,10,4.9,29,18.3