version: 66.02
glider: 117
mission: 4
dive: 116
start: 9 26 107 21 30 17
data:
$ID,117
$MISSION,4
$DIVE,116
$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,-19261.35
$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,42
$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
$GPS1,212153,4739.280,-12253.291,11,9.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.6
$GPS2,212910,4739.309,-12253.325,32,1.3,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,0.180
$KALMAN_X,21860.6,36.6,30.0,-22711.0,-195.3
$KALMAN_Y,9857.5,44.7,2.6,-10792.7,-320.2
$MHEAD_RNG_PITCHd_Wd,11.9,331,-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,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,81,0.00,0.00,-54.97,0.000,2,0.000,0.000,411,2189,2558
$GC,84,-1.68,-97.8,2.1,-2.6,9,151,13.35,2.58,-44.90,0.000,4,0.199,0.068,2525,3584,3603
$GC,225,-1.68,-97.8,12.2,-11.1,31,231,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2198,3606
$GC,297,-1.68,-97.8,19.4,-9.2,42,303,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3587,3604
$GC,335,-1.68,-97.8,23.6,-11.3,46,340,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2200,3604
$GC,537,-1.68,-97.8,43.9,-10.4,62,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,3605
$GC,728,-1.68,-97.8,65.1,-10.9,77,733,0.00,2.62,0.00,0.000,4,0.000,0.056,2525,3592,3605
$GC,773,-1.68,-97.8,70.3,-11.4,80,777,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2192,3605
$GC,975,-1.68,-97.8,91.9,-10.5,96,980,0.00,2.55,0.00,0.000,4,0.000,0.057,2526,3588,3605
$GC,1010,-1.68,-97.8,95.6,-11.7,98,1014,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2192,3605
$GC,1205,-1.68,-97.8,117.5,-10.7,113,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2191,3605
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1234,-0.38,0.0,120.1,10.5,115,1316,1.48,0.00,77.85,0.676,6,0.105,0.000,2811,2069,3202
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,1.68,97.8,123.0,0.0,122,1404,2.17,2.70,76.03,0.656,4,0.064,0.065,3270,684,2803
$GC,1425,1.75,154.6,119.8,5.4,131,1475,0.00,2.47,43.88,0.652,6,0.000,0.035,3271,2077,2571
$GC,1663,1.75,154.6,98.9,9.0,150,1667,0.00,2.55,0.00,0.000,4,0.000,0.058,3270,3478,2569
$GC,1775,1.75,154.6,87.4,10.6,158,1779,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,2076,2569
$GC,1977,1.75,154.6,68.6,9.0,174,1981,0.00,2.55,0.00,0.000,4,0.000,0.055,3270,3480,2568
$GC,2062,1.75,154.6,60.5,9.2,180,2066,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,2075,2568
$GC,2264,1.75,154.6,41.7,9.3,196,2268,0.00,2.55,0.00,0.000,4,0.000,0.055,3270,3476,2568
$GC,2349,1.75,154.6,33.5,9.5,202,2353,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2079,2568
$GC,2549,1.75,154.6,14.5,10.5,221,2555,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3473,2568
$GC,2600,1.75,154.6,9.4,9.4,229,2607,0.00,2.42,0.00,0.000,6,0.000,0.035,3271,2077,2568
$STATE,2664,end climb,SURFACE_DEPTH_REACHED
$STATE,2664,begin surface coast
$FINISH,2.0,1.009286
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2771,begin surface
$SM_CCo,2799,133.40,0.583,0,0,1367,450.13
$SM_GC,1.39,0.00,0.00,133.40,0.000,0.000,0.583,410,2215,1367,-11.45,0.51,450.13
$IRIDIUM_FIX,4722.92,-12253.53,270907,000038
$TT8_MAMPS,0.074399
$HUMID,2223
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.8,27.216
$10V_AH,10.1,17.932
$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,30.575,45.400,197.750,133.400,0.000,63.506,35.780,145.986,0.500,33.210,3469.790,35.400,483.055,1607.292,440.308,501.439,365.730,33.347,733.468,0.000,456.931,0.000,2.491
$DEVICE_MAMPS,199.420,68.263,675.727,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.018,0.000,0.000,0.000,0.000,0.000,0.000,3503.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,255
$CFSIZE,260231168,253722624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,221957,4739.449,-12253.180,13,1.6,13,18.3