version: 66.02
glider: 117
mission: 4
dive: 76
start: 9 25 107 4 38 22
data:
$ID,117
$MISSION,4
$DIVE,76
$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,-18227.207
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,041928,4739.009,-12252.706,36,3.9,56,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.2
$GPS2,043715,4739.131,-12252.610,15,1.2,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,-0.156
$KALMAN_X,21027.8,150.7,109.6,-21183.7,132.8
$KALMAN_Y,12003.1,37.2,146.9,-13410.3,182.5
$MHEAD_RNG_PITCHd_Wd,197.6,298,-22.2,-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,-1.81,-82.4,0.0,0.0,0,100,0.00,0.00,-73.18,0.000,2,0.000,0.000,410,2092,2336
$GC,103,-1.83,-97.8,2.3,-3.6,12,176,13.02,0.00,-53.50,0.000,6,0.193,0.000,2495,2093,3601
$GC,242,-1.83,-97.8,8.3,-8.0,34,248,0.00,2.53,0.00,0.000,4,0.000,0.054,2495,3495,3602
$GC,445,-1.83,-97.8,30.1,-10.0,58,452,0.00,2.45,0.00,0.000,6,0.000,0.034,2495,2097,3603
$GC,641,-1.83,-97.8,50.7,-10.8,74,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3603
$GC,832,-1.83,-97.8,70.9,-10.6,89,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3603
$GC,1023,-1.83,-97.8,92.0,-11.0,104,1027,0.00,2.53,0.00,0.000,4,0.000,0.054,2495,3496,3603
$GC,1073,-1.83,-97.8,98.0,-11.2,107,1081,0.00,2.45,0.00,0.000,6,0.000,0.035,2495,2101,3603
$GC,1270,-1.83,-97.8,118.8,-10.4,123,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2101,3603
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1298,-0.38,0.0,121.3,10.4,125,1380,1.65,0.00,74.62,0.674,6,0.109,0.000,2813,1998,3202
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1383,1.83,97.8,123.6,0.0,132,1468,2.22,0.00,76.47,0.660,6,0.061,0.000,3302,1998,2803
$GC,1657,1.83,97.8,104.3,9.2,154,1661,0.00,2.53,0.00,0.000,4,0.000,0.052,3302,3393,2805
$GC,1914,1.83,97.8,80.9,9.1,173,1918,0.00,2.42,0.00,0.000,6,0.000,0.036,3302,2003,2804
$GC,2117,1.83,102.2,63.8,8.6,189,2129,0.00,2.58,2.88,0.755,4,0.000,0.051,3302,3392,2785
$GC,2186,1.83,102.2,57.3,9.4,194,2194,0.00,2.45,0.00,0.000,6,0.000,0.036,3302,2006,2787
$GC,2383,1.83,103.8,39.9,8.8,210,2387,0.00,2.53,0.00,0.000,4,0.000,0.053,3302,3392,2787
$GC,2434,1.84,107.8,35.2,8.6,213,2445,0.00,2.45,4.35,0.729,6,0.000,0.035,3303,2006,2762
$GC,2637,1.85,119.2,18.2,8.1,231,2651,0.00,2.60,8.32,0.682,4,0.000,0.052,3302,3392,2716
$GC,2684,1.87,132.3,14.6,7.9,238,2702,0.00,2.45,10.15,0.666,6,0.000,0.036,3303,1997,2661
$GC,2769,1.91,161.6,8.6,6.8,251,2800,0.00,2.72,22.12,0.634,4,0.000,0.070,3303,606,2543
$GC,2806,1.92,176.1,5.7,7.8,257,2820,0.00,2.47,8.80,0.648,2,0.000,0.036,3302,2005,2496
$STATE,2821,end climb,SURFACE_DEPTH_REACHED
$STATE,2821,begin surface coast
$FINISH,1.6,1.019832
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2899,123.88,0.578,0,0,1367,450.13
$SM_GC,1.33,0.00,0.00,123.88,0.000,0.000,0.578,412,2104,1367,-11.44,0.11,450.13
$IRIDIUM_FIX,4719.74,-12247.38,250907,080852
$TT8_MAMPS,0.073632
$HUMID,2203
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.5,23.072
$10V_AH,10.1,14.849
$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,30.675,35.425,207.725,123.875,0.000,100.619,116.892,591.208,0.250,37.342,4302.658,15.385,486.144,1704.016,471.585,502.964,951.856,33.338,776.733,0.000,477.671,0.000,2.490
$DEVICE_MAMPS,192.517,69.797,754.728,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.515,0.000,0.000,0.000,0.000,0.000,0.000,4340.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6471,267
$CFSIZE,260231168,255041536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,052953,4738.970,-12252.708,13,2.7,32,18.3