version: 66.02
glider: 117
mission: 4
dive: 65
start: 9 24 107 16 58 7
data:
$ID,117
$MISSION,4
$DIVE,65
$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,-17957.695
$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,22
$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
$GPS1,164832,4738.846,-12252.370,10,1.9,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.6
$GPS2,165701,4738.889,-12252.226,34,1.5,45,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,-0.098
$KALMAN_X,17459.7,596.5,326.4,-17799.5,124.7
$KALMAN_Y,10092.9,434.0,294.3,-12487.5,63.7
$MHEAD_RNG_PITCHd_Wd,223.5,1386,-20.3,-8.889
$D_GRID,128
$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,-97.8,0.0,0.0,0,70,0.00,0.00,-43.22,0.000,2,0.000,0.000,413,2108,2356
$GC,73,-1.68,-97.8,2.3,-4.4,7,135,13.25,2.47,-41.80,0.000,4,0.197,0.066,2525,3483,3603
$GC,149,-1.68,-97.8,5.5,-5.5,19,155,0.00,2.40,0.00,0.000,6,0.000,0.034,2525,2093,3604
$GC,221,-1.68,-97.8,11.0,-7.9,30,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2093,3604
$GC,292,-1.68,-97.8,17.7,-9.3,41,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2093,3604
$GC,367,-1.68,-97.8,25.2,-10.1,49,371,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3483,3604
$GC,398,-1.68,-97.8,28.6,-10.1,51,406,0.00,2.42,0.00,0.000,6,0.000,0.034,2525,2100,3605
$GC,595,-1.68,-97.8,48.4,-10.1,67,599,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3492,3605
$GC,634,-1.68,-97.8,52.4,-10.9,70,638,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2100,3605
$GC,836,-1.68,-97.8,73.4,-10.4,86,840,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3492,3605
$GC,894,-1.68,-97.8,79.8,-11.0,90,902,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2106,3605
$GC,1090,-1.68,-97.8,100.2,-10.1,106,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2106,3605
$GC,1283,-1.68,-97.8,119.2,-10.1,121,1287,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3493,3605
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1299,-0.38,0.0,120.7,9.7,121,1381,1.45,0.00,77.38,0.682,6,0.108,0.000,2810,1999,3202
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,1.68,97.8,123.4,0.0,128,1469,2.10,2.72,75.35,0.663,4,0.064,0.068,3268,592,2802
$GC,1554,1.72,126.1,115.2,7.2,141,1581,0.00,2.50,21.55,0.672,6,0.000,0.036,3269,1986,2687
$GC,1769,1.72,127.6,97.4,8.8,158,1773,0.00,2.58,0.00,0.000,4,0.000,0.056,3268,3402,2686
$GC,1912,1.72,127.6,84.4,8.9,168,1920,0.00,2.47,0.00,0.000,6,0.000,0.035,3269,2003,2685
$GC,2109,1.72,127.6,67.1,9.1,184,2112,0.00,2.53,0.00,0.000,4,0.000,0.053,3269,3398,2685
$GC,2149,1.72,127.6,63.4,9.4,187,2154,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,1996,2685
$GC,2344,1.72,127.6,45.3,8.9,202,2348,0.00,2.53,0.00,0.000,4,0.000,0.053,3269,3394,2685
$GC,2463,1.72,127.6,34.8,9.4,211,2467,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2000,2685
$GC,2660,1.74,144.2,18.1,7.9,228,2678,0.00,0.00,13.27,0.668,6,0.000,0.000,3269,2000,2613
$GC,2745,1.76,160.1,11.2,7.9,241,2768,0.00,2.58,11.95,0.667,4,0.000,0.053,3269,3400,2549
$GC,2934,1.95,316.9,3.4,-0.7,269,3010,0.25,2.45,68.05,0.602,2,0.049,0.035,3329,1995,1945
$STATE,3011,end climb,SURFACE_DEPTH_REACHED
$STATE,3011,begin surface coast
$FINISH,1.0,1.021511
$STATE,3035,end surface coast,CONTROL_FINISHED_OK
$STATE,3035,begin surface
$SM_CCo,3062,66.32,0.583,0,0,1367,450.13
$SM_GC,1.19,0.00,0.00,66.32,0.000,0.000,0.583,411,2109,1367,-11.45,0.25,450.13
$IRIDIUM_FIX,4722.92,-12330.77,240907,191914
$TT8_MAMPS,0.071331
$HUMID,2270
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.8,21.904
$10V_AH,10.1,13.966
$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,30.400,50.125,267.550,66.325,0.000,64.082,25.247,201.793,0.750,0.000,3815.000,45.008,523.098,1707.465,432.666,566.528,434.441,33.344,765.786,0.000,511.153,0.000,4.113
$DEVICE_MAMPS,197.119,68.263,681.863,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.100,0.000,0.000,0.000,0.000,0.000,0.000,3815.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9604,285
$CFSIZE,260231168,255401984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,175123,4738.739,-12252.513,13,2.1,32,18.3