version: 66.02
glider: 117
mission: 4
dive: 59
start: 9 24 107 10 16 23
data:
$ID,117
$MISSION,4
$DIVE,59
$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,-17788.131
$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,40
$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
$GPS1,100311,4738.608,-12253.005,13,2.7,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-61.0
$GPS2,101517,4738.661,-12252.789,15,2.3,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.082
$KALMAN_X,14759.6,560.1,-13.7,-15430.7,135.7
$KALMAN_Y,8395.9,220.5,-82.1,-10628.5,46.6
$MHEAD_RNG_PITCHd_Wd,228.4,568,-20.3,-8.889
$D_GRID,136
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,106,0.00,0.00,-78.80,0.000,2,0.000,0.000,406,2109,2433
$GC,109,-1.68,-97.8,2.2,-4.1,13,177,13.12,2.47,-47.67,0.000,4,0.191,0.063,2527,3490,3602
$GC,224,-1.68,-97.8,7.0,-7.0,31,231,0.00,2.40,0.00,0.000,6,0.000,0.032,2527,2094,3602
$GC,296,-1.68,-97.8,12.7,-9.2,42,302,0.00,2.60,0.00,0.000,4,0.000,0.065,2530,706,3603
$GC,406,-1.68,-97.8,23.9,-10.4,56,414,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2093,3604
$GC,603,-1.68,-97.8,42.8,-9.7,72,607,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3504,3604
$GC,661,-1.68,-97.8,49.1,-11.0,76,668,0.00,2.45,0.00,0.000,6,0.000,0.034,2527,2104,3604
$GC,857,-1.68,-97.8,69.5,-10.7,92,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2102,3604
$GC,1050,-1.68,-97.8,88.9,-10.1,107,1054,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3502,3604
$GC,1121,-1.68,-97.8,96.8,-10.8,112,1125,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2099,3605
$GC,1323,-1.68,-97.8,116.1,-9.4,128,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2099,3605
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1377,-0.38,0.0,121.1,10.0,132,1459,1.48,0.00,76.05,0.680,6,0.105,0.000,2815,1996,3202
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1462,1.68,97.8,123.6,0.0,139,1544,2.15,0.00,75.82,0.663,6,0.062,0.000,3271,1996,2803
$GC,1732,1.69,103.6,107.1,8.5,161,1738,0.00,0.00,4.40,0.732,6,0.000,0.000,3272,1998,2779
$GC,1921,1.73,131.6,92.7,7.2,176,1950,0.00,2.65,21.38,0.673,4,0.000,0.052,3271,3402,2665
$GC,2082,1.73,131.6,78.1,9.3,188,2090,0.00,2.47,0.00,0.000,6,0.000,0.036,3271,2006,2665
$GC,2279,1.73,131.6,60.8,9.0,204,2283,0.00,2.50,0.00,0.000,4,0.000,0.051,3271,3395,2666
$GC,2389,1.73,131.6,50.2,10.5,212,2397,0.00,2.47,0.00,0.000,6,0.000,0.036,3271,1998,2666
$GC,2586,1.73,131.6,31.9,9.1,228,2590,0.00,2.53,0.00,0.000,4,0.000,0.052,3271,3396,2665
$GC,2713,1.73,132.6,20.9,8.8,237,2717,0.00,2.45,0.00,0.000,6,0.000,0.037,3271,1991,2665
$GC,2918,1.76,157.9,5.1,7.3,266,2943,0.00,2.67,18.80,0.658,4,0.000,0.071,3272,600,2557
$STATE,2966,end climb,SURFACE_DEPTH_REACHED
$STATE,2967,begin surface coast
$FINISH,2.5,1.020547
$STATE,3007,end surface coast,CONTROL_FINISHED_OK
$STATE,3007,begin surface
$SM_CCo,3015,215.02,0.578,0,0,746,602.46
$SM_GC,1.21,12.90,0.00,0.00,0.038,0.000,0.000,409,2102,744,-11.41,0.11,602.95
$IRIDIUM_FIX,4719.74,-12254.47,240907,141442
$TT8_MAMPS,0.071331
$HUMID,2245
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,9.0
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.4,21.332
$10V_AH,10.1,13.460
$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,29.650,40.475,196.450,215.025,0.000,96.979,67.239,284.519,1.000,12.450,4195.550,34.894,514.015,1889.056,558.367,535.056,600.143,33.341,860.947,0.000,491.040,0.000,4.102
$DEVICE_MAMPS,190.983,71.331,731.718,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.911,0.000,0.000,0.000,0.000,0.000,0.000,4208.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,280
$CFSIZE,260231168,255602688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,111307,4738.642,-12252.923,10,1.3,26,18.3