version: 66.02
glider: 117
mission: 4
dive: 75
start: 9 25 107 3 23 45
data:
$ID,117
$MISSION,4
$DIVE,75
$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,602.45679
$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,-18211.193
$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,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,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
$GPS1,025915,4738.987,-12252.688,11,1.3,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.1
$GPS2,032238,4739.130,-12252.584,9,1.6,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,-0.154
$KALMAN_X,20768.0,167.0,28.3,-20826.6,187.9
$KALMAN_Y,11728.2,38.4,33.0,-13023.9,194.9
$MHEAD_RNG_PITCHd_Wd,204.0,318,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,69,0.00,0.00,-41.95,0.000,2,0.000,0.000,413,2114,2326
$GC,72,-1.68,-97.8,2.2,-3.4,7,146,13.20,2.70,-54.33,0.000,4,0.193,0.072,2525,699,3602
$GC,173,-1.68,-97.8,5.8,-8.5,23,180,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2098,3604
$GC,245,-1.68,-97.8,11.5,-9.1,34,252,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3494,3605
$GC,395,-1.68,-97.8,26.4,-10.2,52,403,0.00,2.45,0.00,0.000,6,0.000,0.034,2525,2093,3606
$GC,592,-1.68,-97.8,44.1,-9.5,68,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2093,3606
$GC,782,-1.68,-97.8,62.3,-9.8,83,787,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3495,3606
$GC,841,-1.68,-97.8,68.3,-10.1,87,845,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2100,3606
$GC,1043,-1.68,-97.8,87.4,-9.6,103,1046,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3495,3606
$GC,1095,-1.68,-97.8,92.7,-10.1,107,1099,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2092,3606
$GC,1297,-1.68,-97.8,111.1,-8.9,123,1301,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3499,3606
$GC,1328,-1.68,-97.8,114.2,-9.9,125,1336,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2101,3606
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1402,-0.38,0.0,120.9,10.1,131,1484,1.48,0.00,77.78,0.677,6,0.104,0.000,2812,1999,3202
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1487,1.68,97.8,123.6,0.0,138,1573,2.10,2.58,76.30,0.657,4,0.063,0.051,3268,3392,2802
$GC,1652,1.71,117.6,115.1,7.7,151,1677,0.00,2.45,15.18,0.682,6,0.000,0.036,3269,2002,2722
$GC,1866,1.71,117.6,96.0,8.9,168,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2003,2721
$GC,2056,1.71,117.6,79.2,9.0,183,2060,0.00,2.53,0.00,0.000,4,0.000,0.053,3269,3398,2719
$GC,2182,1.71,117.6,67.9,9.3,192,2186,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2000,2719
$GC,2377,1.71,119.5,50.2,8.8,207,2381,0.00,2.53,0.00,0.000,4,0.000,0.053,3268,3395,2718
$GC,2455,1.71,119.5,43.0,9.4,212,2462,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2008,2718
$GC,2651,1.73,137.3,26.8,7.8,228,2668,0.00,0.00,14.38,0.665,6,0.000,0.000,3269,2008,2642
$GC,2858,1.76,160.5,9.9,7.5,253,2883,0.00,2.55,17.70,0.647,4,0.000,0.054,3269,3395,2547
$STATE,2929,end climb,SURFACE_DEPTH_REACHED
$STATE,2929,begin surface coast
$FINISH,1.4,1.020170
$STATE,3007,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3037,215.10,0.570,0,0,745,602.46
$SM_GC,1.25,0.00,0.00,215.10,0.000,0.000,0.570,410,2092,745,-11.45,-0.23,602.46
$IRIDIUM_FIX,4722.92,-12256.21,250907,070753
$TT8_MAMPS,0.072098
$HUMID,2221
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.7,22.949
$10V_AH,10.1,14.756
$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,30.275,44.875,201.325,215.100,0.000,175.025,201.860,634.050,1.000,29.050,4673.950,14.832,517.275,1941.017,531.552,514.517,1179.045,33.346,838.170,0.000,491.640,0.000,2.493
$DEVICE_MAMPS,192.517,72.098,681.863,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.016,0.000,0.000,0.000,0.000,0.000,0.000,4703.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,276
$CFSIZE,260231168,255070208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,041928,4739.009,-12252.706,36,3.9,56,18.3