version: 66.02
glider: 117
mission: 4
dive: 98
start: 9 26 107 3 59 9
data:
$ID,117
$MISSION,4
$DIVE,98
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18787.957
$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,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,31
$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
$GPS1,034951,4739.419,-12252.830,13,2.0,13,18.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,3
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.9
$GPS2,035802,4739.436,-12252.773,12,2.0,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.016
$KALMAN_X,22275.0,-55.1,-6.1,-22312.9,135.6
$KALMAN_Y,11546.9,-224.5,-45.6,-11930.0,88.3
$MHEAD_RNG_PITCHd_Wd,247.3,538,-20.3,-8.889
$D_GRID,122
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,75,0.00,0.00,-49.17,0.000,2,0.000,0.000,413,2188,2462
$GC,78,-1.68,-97.8,2.4,-3.7,8,146,13.38,2.58,-47.22,0.000,4,0.197,0.073,2526,806,3601
$GC,179,-1.68,-97.8,7.8,-11.7,24,186,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2209,3603
$GC,251,-1.68,-97.8,15.0,-9.6,35,258,0.00,2.53,0.00,0.000,4,0.000,0.057,2525,3603,3603
$GC,370,-1.68,-97.8,27.4,-9.9,48,375,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2200,3604
$GC,565,-1.68,-97.8,47.0,-10.5,63,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3604
$GC,756,-1.68,-97.8,65.6,-9.7,78,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3604
$GC,945,-1.68,-97.8,83.7,-9.5,93,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,3605
$GC,1134,-1.68,-97.8,102.7,-10.0,108,1139,0.00,2.62,0.00,0.000,4,0.000,0.066,2526,798,3604
$GC,1185,-1.68,-97.8,107.8,-9.8,111,1192,0.00,2.50,0.00,0.000,6,0.000,0.035,2525,2200,3605
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1322,-0.38,0.0,120.5,9.4,122,1404,1.50,0.00,77.60,0.680,6,0.104,0.000,2815,2063,3202
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1407,1.68,97.8,122.7,0.0,129,1493,2.10,2.65,76.03,0.657,4,0.062,0.065,3273,687,2802
$GC,1537,1.70,108.2,117.3,8.3,139,1550,0.00,2.50,7.62,0.702,6,0.000,0.036,3273,2079,2762
$GC,1740,1.71,120.7,100.3,8.1,155,1756,0.00,2.65,9.27,0.703,4,0.000,0.058,3273,3483,2709
$GC,1804,1.72,124.1,95.0,8.7,160,1812,0.00,2.45,2.38,0.774,6,0.000,0.036,3273,2092,2696
$GC,1999,1.72,124.1,77.3,9.6,175,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2093,2695
$GC,2190,1.72,124.1,60.3,9.2,190,2194,0.00,2.53,0.00,0.000,4,0.000,0.056,3273,3479,2695
$GC,2222,1.72,124.1,57.2,9.2,192,2226,0.00,2.45,0.00,0.000,6,0.000,0.036,3273,2078,2695
$GC,2417,1.72,124.1,39.5,9.0,207,2421,0.00,2.55,0.00,0.000,4,0.000,0.055,3273,3476,2694
$GC,2475,1.72,124.1,34.0,9.7,211,2483,0.00,2.47,0.00,0.000,6,0.000,0.035,3273,2079,2695
$GC,2673,1.75,152.3,17.5,7.2,229,2698,0.00,0.00,21.85,0.645,6,0.000,0.000,3273,2079,2580
$GC,2764,1.75,152.3,10.4,9.6,243,2771,0.00,2.58,0.00,0.000,4,0.000,0.056,3273,3478,2579
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,3.9,1.021354
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2963,begin surface
$SM_CCo,2990,142.32,0.582,0,0,1367,450.13
$SM_GC,1.38,0.00,0.00,142.32,0.000,0.000,0.582,409,2187,1367,-11.46,-0.37,450.13
$IRIDIUM_FIX,4722.92,-12256.21,260907,060634
$TT8_MAMPS,0.073632
$HUMID,2228
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.2,25.604
$10V_AH,10.1,16.625
$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,30.700,40.400,194.750,142.325,0.000,61.200,37.553,204.323,0.500,103.750,3640.250,29.790,506.171,1765.318,451.205,503.130,427.073,33.370,741.525,0.000,463.304,0.000,2.491
$DEVICE_MAMPS,197.119,72.865,773.903,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.751,0.000,0.000,0.000,0.000,0.000,0.000,3744.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,273
$CFSIZE,260231168,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,045238,4739.384,-12253.142,42,1.7,42,18.3