version: 66.02
glider: 117
mission: 4
dive: 20
start: 9 22 107 16 30 54
data:
$ID,117
$MISSION,4
$DIVE,20
$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,-16853.189
$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,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,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
$GPS1,162029,4739.254,-12251.386,15,2.7,34,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-64.0
$GPS2,162947,4739.316,-12251.303,13,2.1,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.112
$KALMAN_X,5711.7,770.8,276.7,-5022.8,13.2
$KALMAN_Y,4179.0,546.5,135.6,-5738.2,-7.8
$MHEAD_RNG_PITCHd_Wd,219.2,1049,-20.3,-8.889
$D_GRID,121
$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,-55.22,0.000,2,0.000,0.000,412,2088,2540
$GC,84,-1.68,-97.8,2.0,-3.8,9,152,13.52,2.62,-46.85,0.000,4,0.194,0.074,2529,702,3601
$GC,171,-1.68,-97.8,4.5,-7.7,23,178,0.00,2.53,0.00,0.000,6,0.000,0.034,2529,2087,3602
$GC,243,-1.68,-97.8,11.2,-10.5,34,250,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3498,3603
$GC,375,-1.68,-97.8,24.5,-9.6,51,379,0.00,2.45,0.00,0.000,6,0.000,0.034,2529,2101,3603
$GC,577,-1.68,-97.8,44.0,-10.3,67,580,0.00,2.55,0.00,0.000,4,0.000,0.054,2529,3498,3604
$GC,616,-1.68,-97.8,47.9,-9.9,70,620,0.00,2.47,0.00,0.000,6,0.000,0.035,2529,2094,3604
$GC,818,-1.68,-97.8,68.1,-10.2,86,822,0.00,2.58,0.00,0.000,4,0.000,0.054,2529,3496,3604
$GC,849,-1.68,-97.8,71.4,-10.5,88,857,0.00,2.53,0.00,0.000,6,0.000,0.034,2529,2108,3604
$GC,1045,-1.68,-97.8,89.6,-9.0,104,1050,0.00,2.53,0.00,0.000,4,0.000,0.054,2529,3498,3605
$GC,1104,-1.68,-97.8,95.3,-9.7,108,1111,0.00,2.47,0.00,0.000,6,0.000,0.035,2529,2094,3604
$GC,1300,-1.68,-97.8,113.2,-9.1,124,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2094,3604
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1379,-0.38,0.0,120.3,9.7,130,1461,1.50,0.00,77.85,0.676,6,0.108,0.000,2814,1909,3202
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1462,begin climb
$GC,1464,1.68,97.8,122.9,0.0,137,1545,2.12,0.00,76.03,0.656,6,0.064,0.000,3263,1908,2805
$GC,1734,1.70,108.9,106.3,8.2,159,1747,0.00,2.62,8.40,0.701,4,0.000,0.051,3264,3309,2756
$GC,1800,1.70,109.5,100.6,8.9,164,1804,0.00,2.50,0.00,0.000,6,0.000,0.037,3264,1904,2756
$GC,1995,1.72,126.6,84.6,7.8,179,2014,0.00,2.65,13.57,0.683,4,0.000,0.051,3263,3305,2684
$GC,2111,1.72,126.6,74.1,9.7,187,2119,0.00,2.53,0.00,0.000,6,0.000,0.037,3264,1907,2683
$GC,2308,1.72,130.1,57.7,8.7,203,2315,0.00,2.60,2.00,0.778,4,0.000,0.052,3264,3314,2671
$GC,2459,1.72,130.1,43.8,9.3,214,2464,0.00,2.50,0.00,0.000,6,0.000,0.037,3264,1910,2671
$GC,2662,1.72,130.1,25.4,9.3,230,2665,0.00,2.58,0.00,0.000,4,0.000,0.052,3264,3306,2671
$GC,2740,1.72,130.1,17.6,9.9,237,2747,0.00,2.50,0.00,0.000,6,0.000,0.037,3264,1904,2671
$GC,2813,1.73,136.1,11.2,8.5,248,2825,0.00,2.62,4.40,0.713,4,0.000,0.052,3264,3308,2647
$GC,2999,1.92,290.3,2.4,-0.5,276,3061,0.25,2.47,56.28,0.606,2,0.053,0.035,3321,1909,2157
$STATE,3062,end climb,SURFACE_DEPTH_REACHED
$STATE,3062,begin surface coast
$FINISH,0.2,1.021216
$STATE,3121,end surface coast,CONTROL_FINISHED_OK
$STATE,3121,begin surface
$SM_CCo,3148,86.25,0.581,0,0,1366,450.13
$SM_GC,0.96,0.00,0.00,86.25,0.000,0.000,0.581,413,2112,1366,-11.44,0.31,450.13
$IRIDIUM_FIX,4719.74,-12247.38,220907,191932
$TT8_MAMPS,0.072865
$HUMID,2335
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,20.20
$XPDR_PINGS,115
$ALTIM_TOP_PING,9.7,5.4
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.1,16.710
$10V_AH,10.1,10.296
$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,30.900,51.500,238.525,86.250,0.000,64.246,30.288,254.643,29.250,453.590,3523.410,33.145,539.379,1780.036,446.103,560.405,495.235,33.349,768.723,0.000,515.946,0.000,4.098
$DEVICE_MAMPS,194.051,74.399,777.738,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.870,0.000,0.000,0.000,0.000,0.000,0.000,3977.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9579,295
$CFSIZE,260231168,256901120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,220907,172553,4739.172,-12251.585,10,5.1,29,18.3