version: 66.02
glider: 117
mission: 4
dive: 108
start: 9 26 107 13 33 29
data:
$ID,117
$MISSION,4
$DIVE,108
$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,-19050.629
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,132414,4739.462,-12252.453,11,1.7,28,18.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.7
$GPS2,133223,4739.468,-12252.404,13,2.6,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,-0.049
$KALMAN_X,22185.9,-19.3,-142.8,-21661.6,96.8
$KALMAN_Y,10788.1,-40.6,-154.4,-11188.9,131.7
$MHEAD_RNG_PITCHd_Wd,238.1,995,-20.3,-8.889
$D_GRID,124
$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,-97.8,0.0,0.0,0,70,0.00,0.00,-43.03,0.000,2,0.000,0.000,411,2190,2326
$GC,73,-1.68,-97.8,2.1,-2.6,7,147,13.43,2.58,-53.03,0.000,4,0.202,0.071,2524,804,3601
$GC,180,-1.68,-97.8,7.7,-10.1,24,187,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2203,3602
$GC,252,-1.68,-97.8,14.5,-9.3,35,259,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3600,3603
$GC,298,-1.68,-97.8,19.1,-10.4,42,304,0.00,2.40,0.00,0.000,6,0.000,0.034,2524,2202,3604
$GC,374,-1.68,-97.8,27.1,-10.8,49,378,0.00,2.60,0.00,0.000,4,0.000,0.062,2524,798,3603
$GC,411,-1.68,-97.8,31.2,-10.2,51,419,0.00,2.47,0.00,0.000,6,0.000,0.035,2524,2198,3603
$GC,608,-1.68,-97.8,50.5,-9.8,67,612,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3602,3604
$GC,662,-1.68,-97.8,56.0,-10.3,71,666,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2196,3604
$GC,857,-1.68,-97.8,76.0,-10.2,86,861,0.00,2.60,0.00,0.000,4,0.000,0.064,2524,801,3604
$GC,889,-1.68,-97.8,79.5,-10.7,88,893,0.00,2.47,0.00,0.000,6,0.000,0.035,2524,2212,3605
$GC,1091,-1.68,-97.8,98.7,-9.3,104,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2211,3604
$GC,1282,-1.68,-97.8,118.0,-10.6,119,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2211,3604
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1309,-0.38,0.0,120.6,10.3,121,1391,1.50,0.00,77.38,0.683,6,0.107,0.000,2813,2072,3203
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1394,1.68,97.8,123.5,0.0,128,1479,2.10,0.00,76.07,0.662,6,0.064,0.000,3270,2073,2802
$GC,1668,1.71,122.5,107.8,7.4,150,1693,0.00,2.62,18.65,0.686,4,0.000,0.064,3270,692,2701
$GC,1737,1.71,122.5,101.9,9.2,155,1745,0.00,2.47,0.00,0.000,6,0.000,0.035,3270,2074,2700
$GC,1934,1.71,122.5,83.3,9.5,171,1938,0.00,2.55,0.00,0.000,4,0.000,0.058,3270,3477,2700
$GC,2026,1.71,122.5,74.7,9.2,178,2030,0.00,2.42,0.00,0.000,6,0.000,0.035,3270,2091,2699
$GC,2228,1.74,139.5,58.5,7.8,194,2246,0.00,2.55,12.68,0.686,4,0.000,0.054,3270,3476,2632
$GC,2343,1.74,139.5,48.0,9.1,202,2351,0.00,2.47,0.00,0.000,6,0.000,0.035,3270,2077,2631
$GC,2540,1.74,139.5,29.7,9.4,218,2544,0.00,2.62,0.00,0.000,4,0.000,0.066,3270,681,2631
$GC,2586,1.74,139.5,25.1,9.9,221,2590,0.00,2.47,0.00,0.000,6,0.000,0.035,3270,2086,2631
$GC,2788,1.77,167.7,8.9,7.2,247,2819,0.00,2.62,21.40,0.647,4,0.000,0.057,3270,3477,2518
$STATE,2843,end climb,SURFACE_DEPTH_REACHED
$STATE,2843,begin surface coast
$FINISH,2.1,1.020666
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2946,130.40,0.584,0,0,1366,450.13
$SM_GC,1.41,0.00,0.00,130.40,0.000,0.000,0.584,413,2185,1366,-11.44,-0.45,450.13
$IRIDIUM_FIX,4719.74,-12242.96,260907,161653
$TT8_MAMPS,0.073632
$HUMID,2229
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,11.9
$24V_AH,23.8,26.527
$10V_AH,10.1,17.343
$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,30.650,50.325,206.175,130.400,0.000,62.114,40.015,193.638,0.250,37.350,3682.650,33.589,501.569,1694.246,463.564,511.355,423.026,33.354,762.584,0.000,467.192,0.000,3.694
$DEVICE_MAMPS,201.721,71.331,685.698,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.781,0.000,0.000,0.000,0.000,0.000,0.000,3720.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,267
$CFSIZE,260231168,253972480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,142601,4739.489,-12252.749,32,1.0,42,18.3