version: 66.02
glider: 117
mission: 4
dive: 34
start: 9 23 107 7 38 5
data:
$ID,117
$MISSION,4
$DIVE,34
$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,-17198.164
$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,23
$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
$GPS1,072359,4738.451,-12253.163,9,7.6,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.2
$GPS2,073659,4738.506,-12253.115,17,2.4,36,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.010
$KALMAN_X,8419.2,-98.3,105.5,-8950.6,18.9
$KALMAN_Y,5577.8,-92.5,136.7,-7998.4,59.7
$MHEAD_RNG_PITCHd_Wd,74.5,892,-20.3,-8.889
$D_GRID,142
$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,-1.68,-97.8,0.0,0.0,0,113,0.00,0.00,-85.12,0.000,2,0.000,0.000,410,2088,2526
$GC,115,-1.68,-97.8,2.1,-3.8,14,177,13.30,2.55,-40.45,0.000,4,0.197,0.065,2524,3492,3602
$GC,401,-1.68,-97.8,26.3,-10.3,54,405,0.00,2.42,0.00,0.000,6,0.000,0.034,2525,2090,3604
$GC,603,-1.68,-97.8,45.3,-9.9,70,607,0.00,2.53,0.00,0.000,4,0.000,0.053,2525,3489,3605
$GC,655,-1.68,-97.8,50.8,-10.6,74,659,0.00,2.40,0.00,0.000,6,0.000,0.034,2524,2100,3605
$GC,857,-1.68,-97.8,70.9,-10.7,90,861,0.00,2.50,0.00,0.000,4,0.000,0.053,2524,3493,3605
$GC,902,-1.68,-97.8,75.7,-10.0,93,909,0.00,2.42,0.00,0.000,6,0.000,0.034,2525,2104,3605
$GC,1098,-1.68,-97.8,94.8,-9.7,109,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2104,3605
$GC,1288,-1.68,-97.8,113.0,-9.5,124,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2104,3605
$STATE,1361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1362,begin apogee
$GC,1367,-0.38,0.0,120.5,10.1,130,1449,1.48,0.00,73.70,0.676,6,0.107,0.000,2812,1999,3202
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1452,1.68,97.8,123.5,0.0,137,1533,2.15,0.00,76.62,0.660,6,0.061,0.000,3269,1998,2803
$GC,1722,1.71,121.7,108.2,7.4,159,1747,0.00,2.55,17.95,0.673,4,0.000,0.052,3269,3385,2706
$GC,1826,1.71,121.7,99.0,9.6,167,1831,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2006,2706
$GC,2021,1.71,121.7,80.9,9.5,182,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2003,2706
$GC,2212,1.72,123.4,63.6,8.8,197,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2003,2706
$GC,2403,1.73,131.7,47.4,8.4,212,2416,0.00,2.58,7.47,0.698,4,0.000,0.053,3269,3385,2664
$GC,2548,1.73,131.7,33.3,9.1,223,2552,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,1999,2666
$GC,2745,1.74,147.2,16.2,7.9,241,2763,0.00,0.00,11.40,0.670,6,0.000,0.000,3269,2000,2602
$GC,2829,1.77,165.1,9.4,7.8,254,2848,0.00,2.62,13.45,0.657,4,0.000,0.053,3269,3392,2529
$GC,3007,1.94,306.4,2.6,0.3,281,3064,0.22,2.45,50.55,0.605,2,0.050,0.035,3322,1991,2080
$STATE,3064,end climb,SURFACE_DEPTH_REACHED
$STATE,3064,begin surface coast
$FINISH,0.3,1.021699
$STATE,3155,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3182,77.75,0.581,0,0,1367,450.13
$SM_GC,1.07,0.00,0.00,77.75,0.000,0.000,0.581,410,2100,1367,-11.45,-0.03,450.13
$IRIDIUM_FIX,4722.92,-12253.53,230907,111134
$TT8_MAMPS,0.072098
$HUMID,2306
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,20.20
$XPDR_PINGS,20
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.8,18.862
$10V_AH,10.1,11.443
$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,30.400,30.175,251.150,77.750,0.000,103.892,74.615,333.804,5.500,16.600,4391.400,36.895,531.880,1886.084,447.009,551.225,651.771,33.336,760.288,0.000,506.823,0.000,4.104
$DEVICE_MAMPS,197.119,65.195,697.970,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,213.536,0.000,0.000,0.000,0.000,0.000,0.000,4408.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9568,304
$CFSIZE,260231168,256413696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,083338,4738.563,-12252.593,39,1.1,39,18.3