version: 66.02
glider: 117
mission: 4
dive: 33
start: 9 23 107 6 33 10
data:
$ID,117
$MISSION,4
$DIVE,33
$D_SURF,2
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17160.643
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,41
$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,10
$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,2
$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
$GPS1,062403,4738.618,-12253.250,13,1.6,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-59.8
$GPS2,063203,4738.653,-12253.241,12,1.5,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.018,-0.153
$KALMAN_X,8296.7,-104.2,138.3,-9010.5,12.9
$KALMAN_Y,5484.2,-133.0,138.2,-7592.5,85.2
$MHEAD_RNG_PITCHd_Wd,155.1,229,-27.7,-8.889
$D_GRID,139
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,113,0.00,0.00,-85.10,0.000,2,0.000,0.000,409,2110,2507
$GC,115,-2.25,-97.8,2.1,-3.8,14,171,12.68,0.00,-40.15,0.000,6,0.202,0.000,2401,2111,3603
$GC,236,-2.25,-97.8,11.1,-12.0,33,242,0.00,2.47,0.00,0.000,4,0.000,0.053,2400,3489,3605
$GC,399,-2.25,-97.8,34.8,-14.2,50,407,0.00,2.42,0.00,0.000,6,0.000,0.033,2401,2101,3606
$GC,596,-2.25,-97.8,61.8,-14.1,66,600,0.00,2.50,0.00,0.000,4,0.000,0.052,2400,3493,3607
$GC,653,-2.25,-97.8,70.7,-15.0,70,661,0.00,2.45,0.00,0.000,6,0.000,0.034,2401,2100,3607
$GC,850,-2.25,-97.8,99.3,-14.4,86,854,0.00,2.50,0.00,0.000,4,0.000,0.053,2400,3490,3607
$GC,934,-2.25,-97.8,112.4,-15.6,92,942,0.00,2.42,0.00,0.000,6,0.000,0.035,2401,2104,3607
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,996,-0.38,0.0,120.8,15.1,97,1077,2.17,0.00,74.38,0.673,6,0.123,0.000,2812,1997,3202
$STATE,1078,end apogee,CONTROL_FINISHED_OK
$STATE,1078,begin climb
$GC,1080,2.25,97.8,123.8,0.0,104,1163,2.80,0.00,76.75,0.657,6,0.059,0.000,3388,1998,2803
$GC,1350,2.25,97.8,102.5,10.5,126,1355,0.00,2.53,0.00,0.000,4,0.000,0.054,3388,3389,2803
$GC,1488,2.25,97.8,87.4,10.5,136,1493,0.00,2.42,0.00,0.000,6,0.000,0.036,3388,2003,2803
$GC,1690,2.25,97.8,66.3,10.4,152,1694,0.00,2.50,0.00,0.000,4,0.000,0.052,3388,3385,2802
$GC,1835,2.25,97.8,51.3,10.3,163,1840,0.00,2.45,0.00,0.000,6,0.000,0.037,3388,2000,2802
$GC,2037,2.25,97.8,31.6,9.6,179,2041,0.00,2.53,0.00,0.000,4,0.000,0.053,3389,3386,2803
$GC,2156,2.25,97.8,20.6,9.0,188,2160,0.00,2.42,0.00,0.000,6,0.000,0.036,3388,1999,2802
$GC,2362,2.30,141.0,6.6,4.0,218,2400,0.00,2.60,32.33,0.630,4,0.000,0.052,3388,3385,2627
$STATE,2642,end climb,NO_VERTICAL_VELOCITY
$STATE,2642,begin surface
$SM_CCo,2649,224.73,0.565,0,0,745,602.46
$SM_GC,0.82,13.48,0.00,0.00,0.040,0.000,0.000,410,2090,741,-11.41,-0.28,603.68
$IRIDIUM_FIX,4719.74,-12254.47,230907,090956
$TT8_MAMPS,0.070564
$HUMID,2284
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.7,9.1
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.8,18.763
$10V_AH,10.1,11.352
$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,31.125,34.675,183.450,224.725,0.000,61.075,34.789,208.370,1.750,20.760,3529.240,12.085,476.868,1555.466,542.934,488.179,431.229,33.330,829.173,0.000,472.422,0.000,5.302
$DEVICE_MAMPS,202.488,63.661,672.659,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.345,0.000,0.000,0.000,0.000,0.000,0.000,3550.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,261
$CFSIZE,260231168,256458752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,072359,4738.451,-12253.163,9,7.6,28,18.3