version: 66.02
glider: 117
mission: 4
dive: 36
start: 9 23 107 9 49 50
data:
$ID,117
$MISSION,4
$DIVE,36
$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,-17263.307
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,093959,4738.480,-12252.266,10,3.1,29,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.7
$GPS2,094844,4738.510,-12252.222,13,1.9,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,-0.007
$KALMAN_X,8787.9,-42.9,16.2,-8172.0,46.2
$KALMAN_Y,5921.9,10.0,62.1,-8364.1,54.0
$MHEAD_RNG_PITCHd_Wd,249.3,228,-24.8,-8.889
$D_GRID,69
$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,22,begin dive
$GC,25,-1.99,-66.2,0.0,0.0,0,82,0.00,0.00,-55.22,0.000,2,0.000,0.000,412,2085,2570
$GC,85,-2.03,-97.8,2.3,-5.1,9,140,12.95,2.60,-33.85,0.000,4,0.201,0.077,2452,706,3602
$GC,154,-2.03,-97.8,7.0,-11.2,20,160,0.00,2.45,0.00,0.000,6,0.000,0.035,2452,2101,3604
$GC,226,-2.03,-97.8,15.4,-11.4,31,232,0.00,2.60,0.00,0.000,4,0.000,0.063,2452,705,3603
$GC,251,-2.03,-97.8,18.5,-12.3,35,258,0.00,2.45,0.00,0.000,6,0.000,0.035,2452,2103,3604
$GC,327,-2.03,-97.8,27.2,-11.1,42,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2103,3604
$GC,518,-2.03,-97.8,49.8,-12.2,57,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2103,3605
$STATE,680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,680,begin apogee
$GC,685,-0.38,0.0,70.0,12.1,70,766,1.83,0.00,76.78,0.634,6,0.112,0.000,2807,1994,3202
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,2.03,97.8,73.2,0.0,77,855,2.45,2.67,74.90,0.620,4,0.059,0.066,3347,608,2802
$GC,907,2.03,97.8,65.5,10.0,88,912,0.00,2.50,0.00,0.000,6,0.000,0.035,3346,2005,2801
$GC,1109,2.03,97.8,46.9,9.2,104,1113,0.00,2.53,0.00,0.000,4,0.000,0.056,3347,3397,2801
$GC,1246,2.03,97.8,33.5,10.0,114,1254,0.00,2.45,0.00,0.000,6,0.000,0.035,3347,2010,2801
$GC,1445,2.03,103.6,16.7,8.4,133,1452,0.00,0.00,4.10,0.701,6,0.000,0.000,3347,2010,2779
$GC,1517,2.04,113.0,11.0,8.0,144,1530,0.00,2.55,6.85,0.670,4,0.000,0.053,3347,3401,2742
$GC,1579,2.07,132.8,6.6,7.1,153,1603,0.00,2.45,14.75,0.635,6,0.000,0.035,3346,2000,2660
$GC,1668,2.20,235.4,3.5,-0.3,167,1730,0.15,2.62,50.92,0.596,4,0.054,0.053,3384,3392,2241
$STATE,1747,end climb,SURFACE_DEPTH_REACHED
$STATE,1747,begin surface coast
$FINISH,0.3,1.021428
$STATE,1794,end surface coast,CONTROL_FINISHED_OK
$STATE,1794,begin surface
$SM_CCo,1823,96.80,0.572,0,0,1366,450.13
$SM_GC,0.93,0.00,0.00,96.80,0.000,0.000,0.572,412,2090,1366,-11.44,-0.28,450.13
$IRIDIUM_FIX,4719.74,-12254.47,230907,121248
$TT8_MAMPS,0.073632
$HUMID,2236
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.4,8.9
$ALTIM_BOTTOM_PING,45.1,999.0
$24V_AH,23.8,19.044
$10V_AH,10.1,11.585
$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,30.975,30.325,228.300,96.800,0.000,63.460,31.468,231.193,0.500,4.150,2556.850,30.538,341.999,908.155,418.604,356.629,446.342,33.331,646.453,0.000,321.133,0.000,4.100
$DEVICE_MAMPS,200.954,76.700,701.038,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.983,0.000,0.000,0.000,0.000,0.000,0.000,2561.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,187
$CFSIZE,260231168,256368640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,102256,4738.527,-12252.385,15,1.8,32,18.3