version: 66.02
glider: 117
mission: 4
dive: 133
start: 9 27 107 14 0 21
data:
$ID,117
$MISSION,4
$DIVE,133
$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,-19683.766
$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,29
$R_STBD_OVSHOOT,42
$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,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
$GPS1,135215,4739.495,-12252.282,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.8
$GPS2,135914,4739.507,-12252.264,12,1.3,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.205,-0.039
$KALMAN_X,21532.2,-44.1,-172.2,-20777.2,23.0
$KALMAN_Y,9068.0,-88.3,-255.0,-9249.0,73.4
$MHEAD_RNG_PITCHd_Wd,240.8,1173,-20.3,-8.889
$D_GRID,124
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,81,0.00,0.00,-55.17,0.000,2,0.000,0.000,410,2213,2356
$GC,84,-1.68,-97.8,2.0,-2.9,9,165,13.27,2.50,-57.78,0.000,4,0.196,0.069,2525,3590,3603
$GC,324,-1.68,-97.8,19.8,-9.7,46,331,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2197,3605
$GC,393,-1.68,-97.8,26.8,-9.6,52,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2196,3606
$GC,584,-1.68,-97.8,44.9,-9.7,67,588,0.00,2.50,0.00,0.000,4,0.000,0.056,2526,3587,3606
$GC,634,-1.68,-97.8,50.5,-10.7,70,642,0.00,2.40,0.00,0.000,6,0.000,0.034,2525,2206,3606
$GC,831,-1.68,-97.8,69.8,-9.9,86,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2206,3606
$GC,1023,-1.68,-97.8,88.5,-9.9,101,1027,0.00,2.50,0.00,0.000,4,0.000,0.058,2525,3591,3606
$GC,1060,-1.68,-97.8,92.9,-10.7,103,1068,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2196,3606
$GC,1257,-1.68,-97.8,111.5,-9.7,119,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2196,3606
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1349,-0.38,0.0,120.4,10.4,126,1431,1.48,0.00,78.10,0.684,6,0.107,0.000,2812,2072,3202
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,1.68,97.8,123.5,0.0,133,1519,2.17,2.70,76.38,0.667,4,0.064,0.066,3270,686,2802
$GC,1553,1.73,131.7,119.0,6.8,143,1585,0.00,2.45,26.02,0.670,6,0.000,0.035,3270,2073,2665
$GC,1772,1.73,131.7,98.3,9.8,160,1776,0.00,2.53,0.00,0.000,4,0.000,0.058,3270,3472,2662
$GC,1897,1.73,131.7,85.6,10.0,169,1904,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2092,2662
$GC,2093,1.73,131.7,66.8,9.5,185,2097,0.00,2.50,0.00,0.000,4,0.000,0.055,3270,3473,2662
$GC,2205,1.73,131.7,56.0,9.2,193,2209,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2075,2661
$GC,2407,1.73,131.7,37.6,9.0,209,2411,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3473,2661
$GC,2459,1.73,131.7,32.6,9.8,213,2463,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2076,2662
$GC,2657,1.74,140.4,15.2,8.4,232,2670,0.00,0.00,6.05,0.704,6,0.000,0.000,3270,2076,2629
$GC,2736,1.74,145.5,8.5,8.6,244,2749,0.00,2.58,3.88,0.723,4,0.000,0.054,3270,3466,2608
$STATE,2779,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,3.0,1.020492
$STATE,2807,end surface coast,CONTROL_FINISHED_OK
$STATE,2807,begin surface
$SM_CCo,2835,167.12,0.587,0,0,1163,500.17
$SM_GC,1.26,0.00,0.00,167.12,0.000,0.000,0.587,410,2184,1163,-11.45,-0.45,500.17
$IRIDIUM_FIX,4722.92,-12249.11,270907,171722
$TT8_MAMPS,0.072865
$HUMID,2183
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.7,28.688
$10V_AH,10.1,19.170
$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,30.550,39.675,190.425,167.125,0.000,62.742,36.412,133.706,0.250,8.300,3520.700,29.303,476.468,1646.075,489.884,484.654,353.047,33.353,771.856,0.000,445.150,0.000,2.491
$DEVICE_MAMPS,196.352,69.030,722.514,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.232,0.000,0.000,0.000,0.000,0.000,0.000,3529.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6467,255
$CFSIZE,260231168,253198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,145137,4739.508,-12252.642,39,1.1,39,18.3