version: 66.02
glider: 117
mission: 4
dive: 39
start: 9 23 107 12 50 28
data:
$ID,117
$MISSION,4
$DIVE,39
$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,-17326.18
$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,24
$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,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
$GPS1,124037,4739.359,-12252.107,11,1.5,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.7
$GPS2,124921,4739.429,-12252.051,14,0.9,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.206,-0.025
$KALMAN_X,9254.2,93.4,26.2,-8573.1,124.2
$KALMAN_Y,6486.8,175.4,32.8,-7366.8,142.9
$MHEAD_RNG_PITCHd_Wd,244.8,443,-20.4,-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,-1.69,-97.3,0.0,0.0,0,81,0.00,0.00,-55.17,0.000,2,0.000,0.000,413,2111,2567
$GC,84,-1.69,-97.8,2.2,-4.1,9,146,13.32,2.65,-39.83,0.000,4,0.199,0.074,2524,697,3602
$GC,237,-1.69,-97.8,12.8,-9.9,33,244,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2090,3605
$GC,310,-1.69,-97.8,20.0,-9.9,44,316,0.00,2.55,0.00,0.000,4,0.000,0.054,2524,3506,3605
$GC,380,-1.69,-97.8,27.2,-10.5,50,388,0.00,2.47,0.00,0.000,6,0.000,0.034,2524,2095,3605
$GC,577,-1.69,-97.8,45.4,-9.3,66,581,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3496,3606
$GC,621,-1.69,-97.8,50.3,-11.0,69,629,0.00,2.45,0.00,0.000,6,0.000,0.034,2524,2098,3605
$GC,818,-1.69,-97.8,69.7,-10.0,85,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2098,3606
$GC,1008,-1.69,-97.8,88.8,-9.8,100,1012,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3500,3606
$GC,1059,-1.69,-97.8,94.1,-10.2,103,1066,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2101,3605
$GC,1255,-1.69,-97.8,113.7,-10.3,119,1259,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3499,3605
$GC,1294,-1.69,-97.8,117.6,-10.4,122,1299,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2095,3606
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1323,-0.38,0.0,120.1,9.7,124,1405,1.48,0.00,76.95,0.680,6,0.107,0.000,2812,1993,3203
$STATE,1406,end apogee,CONTROL_FINISHED_OK
$STATE,1406,begin climb
$GC,1408,1.69,97.8,122.5,0.0,131,1490,2.17,0.00,75.57,0.663,6,0.064,0.000,3272,1993,2803
$GC,1678,1.72,125.7,105.6,7.2,153,1707,0.00,2.65,21.05,0.681,4,0.000,0.053,3272,3396,2688
$GC,1812,1.72,125.7,93.4,9.6,163,1820,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,2003,2687
$GC,2009,1.72,125.7,75.7,9.0,179,2013,0.00,2.53,0.00,0.000,4,0.000,0.053,3272,3395,2687
$GC,2116,1.72,125.7,65.8,10.1,187,2120,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,1995,2687
$GC,2311,1.72,125.7,47.6,9.1,202,2315,0.00,2.53,0.00,0.000,4,0.000,0.053,3272,3395,2686
$GC,2363,1.72,125.7,42.5,10.0,206,2367,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,1997,2686
$GC,2566,1.72,126.5,24.0,8.8,222,2570,0.00,2.53,0.00,0.000,4,0.000,0.054,3271,3394,2686
$GC,2744,1.78,175.2,10.4,5.9,244,2790,0.00,2.42,37.22,0.634,6,0.000,0.035,3272,1999,2486
$GC,2856,1.85,232.4,2.8,5.4,261,2889,0.15,2.38,27.05,0.614,3,0.057,0.066,3308,780,2252
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,0.3,1.021430
$STATE,2961,end surface coast,CONTROL_FINISHED_OK
$STATE,2961,begin surface
$SM_CCo,2989,97.05,0.583,0,0,1367,450.13
$SM_GC,1.07,0.00,0.00,97.05,0.000,0.000,0.583,410,2105,1367,-11.45,0.14,450.13
$IRIDIUM_FIX,4722.92,-12249.11,230907,151512
$TT8_MAMPS,0.071331
$HUMID,2257
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.8,19.335
$10V_AH,10.1,11.836
$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,30.400,49.925,237.850,97.050,0.000,62.915,39.917,240.910,0.750,16.600,3733.400,14.869,509.419,1686.904,455.059,506.597,480.991,33.336,763.696,0.000,486.530,0.000,4.120
$DEVICE_MAMPS,199.420,73.632,681.096,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.344,0.000,0.000,0.000,0.000,0.000,0.000,3750.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6468,277
$CFSIZE,260231168,256262144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,134259,4739.508,-12252.276,10,2.5,29,18.3