version: 66.02
glider: 117
mission: 4
dive: 105
start: 9 26 107 10 45 58
data:
$ID,117
$MISSION,4
$DIVE,105
$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,-18967.838
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,103750,4739.463,-12252.903,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.0
$GPS2,104451,4739.457,-12252.915,15,1.7,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.200,0.060
$KALMAN_X,21973.3,-34.1,-45.5,-22165.5,-94.6
$KALMAN_Y,10571.8,-111.1,-70.9,-11005.7,-149.2
$MHEAD_RNG_PITCHd_Wd,54.9,641,-20.3,-8.889
$D_GRID,120
$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,23,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,75,0.00,0.00,-47.92,0.000,2,0.000,0.000,411,2218,2431
$GC,78,-1.68,-97.8,2.4,-3.8,8,152,13.52,2.50,-52.65,0.000,4,0.202,0.069,2527,3595,3601
$GC,172,-1.68,-97.8,5.8,-9.4,23,179,0.00,2.42,0.00,0.000,6,0.000,0.035,2528,2198,3602
$GC,244,-1.68,-97.8,13.5,-11.1,34,251,0.00,2.60,0.00,0.000,4,0.000,0.064,2527,798,3603
$GC,270,-1.68,-97.8,16.3,-11.2,38,276,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2199,3603
$GC,348,-1.68,-97.8,23.8,-9.4,47,352,0.00,2.60,0.00,0.000,4,0.000,0.062,2527,799,3603
$GC,387,-1.68,-97.8,27.9,-9.7,49,393,0.00,2.45,0.00,0.000,6,0.000,0.035,2528,2201,3603
$GC,582,-1.68,-97.8,46.8,-9.9,65,586,0.00,2.53,0.00,0.000,4,0.000,0.058,2528,3597,3605
$GC,648,-1.68,-97.8,54.0,-10.8,70,652,0.00,2.42,0.00,0.000,6,0.000,0.035,2528,2192,3604
$GC,850,-1.68,-97.8,74.3,-10.3,86,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2192,3604
$GC,1040,-1.68,-97.8,93.3,-10.0,101,1044,0.00,2.55,0.00,0.000,4,0.000,0.057,2528,3597,3604
$GC,1085,-1.68,-97.8,98.0,-10.1,104,1090,0.00,2.42,0.00,0.000,6,0.000,0.035,2528,2191,3604
$GC,1287,-1.68,-97.8,119.4,-10.7,120,1291,0.00,2.55,0.00,0.000,4,0.000,0.057,2528,3598,3604
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1306,-0.38,0.0,120.7,10.2,121,1387,1.45,0.00,77.60,0.680,6,0.109,0.000,2810,2086,3202
$STATE,1388,end apogee,CONTROL_FINISHED_OK
$STATE,1388,begin climb
$GC,1391,1.68,97.8,124.0,0.0,128,1475,2.12,0.00,75.35,0.665,6,0.064,0.000,3271,2087,2803
$GC,1665,1.74,140.3,110.3,6.3,150,1702,0.00,2.62,32.38,0.667,4,0.000,0.054,3271,3477,2630
$GC,1799,1.74,140.3,97.6,10.6,160,1807,0.00,2.47,0.00,0.000,6,0.000,0.035,3271,2079,2628
$GC,1996,1.74,140.3,77.9,9.9,176,2000,0.00,2.55,0.00,0.000,4,0.000,0.054,3272,3484,2628
$GC,2081,1.74,140.3,68.9,10.4,182,2086,0.00,2.47,0.00,0.000,6,0.000,0.036,3271,2079,2628
$GC,2283,1.74,140.3,48.6,9.9,198,2287,0.00,2.55,0.00,0.000,4,0.000,0.054,3272,3480,2627
$GC,2394,1.74,140.3,37.4,9.4,206,2402,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,2079,2627
$GC,2591,1.74,140.3,19.6,9.4,222,2597,0.00,2.55,0.00,0.000,4,0.000,0.055,3271,3476,2627
$GC,2616,1.74,140.3,17.1,9.8,226,2623,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2073,2627
$GC,2689,1.77,166.2,11.5,7.3,237,2714,0.00,2.65,19.48,0.649,4,0.000,0.054,3271,3476,2524
$STATE,2767,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,1.8,1.020725
$STATE,2838,end surface coast,CONTROL_FINISHED_OK
$STATE,2838,begin surface
$SM_CCo,2867,128.25,0.584,0,0,1366,450.13
$SM_GC,1.29,0.00,0.00,128.25,0.000,0.000,0.584,409,2188,1366,-11.45,-0.34,450.13
$IRIDIUM_FIX,4722.92,-12256.21,260907,131327
$TT8_MAMPS,0.071331
$HUMID,2220
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.1,26.260
$10V_AH,10.1,17.131
$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,30.800,55.200,204.800,128.250,0.000,64.109,42.981,142.680,0.250,41.510,3488.490,15.631,491.408,1630.698,459.946,491.049,371.192,33.352,762.128,0.000,464.953,0.000,2.491
$DEVICE_MAMPS,202.488,69.030,679.562,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.874,0.000,0.000,0.000,0.000,0.000,0.000,3530.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,260
$CFSIZE,260231168,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,113659,4739.548,-12252.516,11,3.2,30,18.3