version: 66.02
glider: 117
mission: 4
dive: 35
start: 9 23 107 8 51 6
data:
$ID,117
$MISSION,4
$DIVE,35
$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,-17232.139
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,25
$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
$GPS1,083338,4738.563,-12252.593,39,1.1,39,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.2
$GPS2,084959,4738.635,-12252.505,13,3.1,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.140
$KALMAN_X,8610.3,-71.7,62.3,-8365.5,26.4
$KALMAN_Y,5781.1,-33.4,111.7,-7999.9,43.7
$MHEAD_RNG_PITCHd_Wd,137.1,230,-27.7,-8.889
$D_GRID,135
$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,-2.20,-53.0,0.0,0.0,0,81,0.00,0.00,-55.22,0.000,2,0.000,0.000,411,2100,2584
$GC,84,-2.24,-89.5,2.3,-4.8,9,140,12.68,2.50,-35.42,0.000,4,0.202,0.064,2402,3489,3567
$GC,389,-2.24,-89.5,36.6,-13.2,47,397,0.00,2.42,0.00,0.000,6,0.000,0.033,2402,2101,3570
$GC,586,-2.24,-89.5,62.7,-13.4,63,590,0.00,2.50,0.00,0.000,4,0.000,0.052,2402,3495,3571
$GC,651,-2.24,-89.5,72.0,-14.2,68,655,0.00,2.42,0.00,0.000,6,0.000,0.034,2402,2093,3570
$GC,853,-2.24,-89.5,100.6,-14.2,84,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2092,3570
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1008,-0.38,0.0,121.3,13.4,96,1084,2.17,0.00,70.57,0.674,6,0.120,0.000,2813,1990,3202
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1087,2.24,89.5,124.1,0.0,102,1166,2.65,2.67,68.88,0.657,4,0.059,0.068,3389,604,2837
$GC,1210,2.24,89.5,117.4,9.5,111,1218,0.00,2.47,0.00,0.000,6,0.000,0.035,3389,1987,2836
$GC,1407,2.24,89.5,98.8,9.6,127,1411,0.00,2.58,0.00,0.000,4,0.000,0.057,3389,3404,2835
$GC,1540,2.24,89.5,85.6,10.5,137,1544,0.00,2.45,0.00,0.000,6,0.000,0.036,3389,2001,2835
$GC,1735,2.24,89.5,67.4,9.2,152,1738,0.00,2.53,0.00,0.000,4,0.000,0.053,3389,3398,2834
$GC,1869,2.24,89.5,54.6,9.7,162,1874,0.00,2.45,0.00,0.000,6,0.000,0.037,3389,1995,2834
$GC,2064,2.24,89.5,36.4,8.9,177,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1995,2835
$GC,2255,2.25,99.8,20.9,7.7,192,2268,0.00,2.62,7.40,0.688,4,0.000,0.053,3389,3402,2794
$GC,2519,2.36,182.3,5.7,-0.4,231,2587,0.10,2.45,61.38,0.614,6,0.068,0.035,3413,1993,2458
$GC,2654,2.46,266.5,3.4,-0.6,252,2704,0.10,2.62,39.33,0.598,4,0.061,0.053,3438,3399,2114
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2710,begin surface coast
$FINISH,0.3,1.021442
$STATE,2757,end surface coast,CONTROL_FINISHED_OK
$STATE,2757,begin surface
$SM_CCo,2786,81.50,0.575,0,0,1368,450.13
$SM_GC,0.99,0.00,0.00,81.50,0.000,0.000,0.575,412,2085,1368,-11.44,-0.42,450.13
$IRIDIUM_FIX,4722.92,-12358.25,230907,121210
$TT8_MAMPS,0.071331
$HUMID,2264
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,20.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,9.6,8.8
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.8,18.964
$10V_AH,10.1,11.529
$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,31.575,35.175,247.550,81.500,0.000,141.108,204.886,310.992,2.500,12.450,3968.550,33.343,482.292,1672.069,413.749,514.868,795.158,33.334,712.662,0.000,475.978,0.000,4.100
$DEVICE_MAMPS,201.721,68.263,687.999,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.241,0.000,0.000,0.000,0.000,0.000,0.000,3981.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6415,268
$CFSIZE,260231168,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,093959,4738.480,-12252.266,10,3.1,29,18.3