version: 66.02
glider: 117
mission: 4
dive: 73
start: 9 25 107 1 5 51
data:
$ID,117
$MISSION,4
$DIVE,73
$D_SURF,5
$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,-18184.658
$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,39
$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,0
$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
$GPS1,005423,4739.058,-12252.652,12,2.4,31,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.0
$GPS2,010445,4739.113,-12252.542,15,2.0,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.134
$KALMAN_X,20049.7,236.4,-44.6,-20053.7,133.4
$KALMAN_Y,11222.5,68.6,-154.9,-12391.3,156.5
$MHEAD_RNG_PITCHd_Wd,208.6,334,-21.7,-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,-1.77,-86.4,0.0,0.0,0,76,0.00,0.00,-49.12,0.000,2,0.000,0.000,411,2100,2450
$GC,79,-1.79,-97.8,2.1,-3.6,8,147,13.20,2.53,-46.53,0.000,4,0.199,0.067,2505,3492,3603
$GC,166,-1.79,-97.8,5.8,-8.8,22,173,0.00,2.42,0.00,0.000,6,0.000,0.034,2504,2091,3604
$GC,238,-1.79,-97.8,11.5,-8.6,33,245,0.00,2.60,0.00,0.000,4,0.000,0.065,2505,705,3605
$GC,257,-1.79,-97.8,13.5,-10.1,36,264,0.00,2.42,0.00,0.000,6,0.000,0.035,2504,2096,3605
$GC,335,-1.79,-97.8,21.2,-9.7,47,339,0.00,2.50,0.00,0.000,4,0.000,0.054,2507,3494,3606
$GC,387,-1.79,-97.8,26.8,-10.6,51,392,0.00,2.40,0.00,0.000,6,0.000,0.035,2505,2102,3606
$GC,589,-1.79,-97.8,47.6,-10.6,67,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2102,3606
$GC,782,-1.79,-97.8,68.3,-11.6,82,786,0.00,2.53,0.00,0.000,4,0.000,0.054,2505,3495,3607
$GC,832,-1.79,-97.8,74.8,-12.0,85,840,0.00,2.45,0.00,0.000,6,0.000,0.035,2504,2098,3606
$GC,1029,-1.79,-97.8,94.7,-9.8,101,1037,0.00,2.53,0.00,0.000,4,0.000,0.054,2504,3493,3606
$GC,1069,-1.79,-97.8,99.0,-10.8,104,1073,0.00,2.42,0.00,0.000,6,0.000,0.035,2505,2096,3606
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1275,-0.38,0.0,120.5,10.8,120,1357,1.60,0.00,78.03,0.680,6,0.108,0.000,2814,1994,3202
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1360,1.79,97.8,123.1,0.0,127,1445,2.20,0.00,75.97,0.660,6,0.062,0.000,3293,1994,2802
$GC,1634,1.79,98.7,105.4,8.8,149,1638,0.00,2.55,0.00,0.000,4,0.000,0.053,3293,3396,2800
$GC,1852,1.81,119.2,87.0,7.5,165,1877,0.00,2.42,15.93,0.678,6,0.000,0.036,3293,2003,2715
$GC,2065,1.81,119.2,68.8,9.0,182,2069,0.00,2.53,0.00,0.000,4,0.000,0.052,3293,3394,2714
$GC,2143,1.81,119.2,61.2,10.0,188,2148,0.00,2.45,0.00,0.000,6,0.000,0.036,3293,1998,2714
$GC,2345,1.81,119.2,42.6,9.3,204,2349,0.00,2.53,0.00,0.000,4,0.000,0.053,3293,3392,2714
$GC,2398,1.81,119.2,37.5,9.6,208,2402,0.00,2.45,0.00,0.000,6,0.000,0.036,3293,1992,2714
$GC,2600,1.82,122.2,19.4,8.7,224,2608,0.00,2.60,1.92,0.785,4,0.000,0.052,3293,3393,2703
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,3.2,1.021233
$STATE,2884,end surface coast,CONTROL_FINISHED_OK
$STATE,2884,begin surface
$SM_CCo,2913,149.85,0.588,0,0,1367,450.13
$SM_GC,1.32,0.00,0.00,149.85,0.000,0.000,0.588,414,2090,1367,-11.44,-0.28,450.13
$IRIDIUM_FIX,4722.92,-12253.53,250907,030322
$TT8_MAMPS,0.071331
$HUMID,2235
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.7,22.706
$10V_AH,10.1,14.578
$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,30.750,44.750,171.850,149.850,0.000,64.092,39.378,308.795,0.500,49.800,3765.200,33.576,506.351,1693.481,440.970,517.835,554.504,33.339,737.945,0.000,477.088,0.000,2.501
$DEVICE_MAMPS,198.653,66.729,785.408,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.329,0.000,0.000,0.000,0.000,0.000,0.000,3815.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,267
$CFSIZE,260231168,255152128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,015807,4739.012,-12252.610,34,0.9,38,18.3