version: 66.02
glider: 117
mission: 4
dive: 118
start: 9 26 107 23 29 22
data:
$ID,117
$MISSION,4
$DIVE,118
$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,-19307.264
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,232132,4739.492,-12252.898,13,1.8,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.8
$GPS2,232815,4739.479,-12252.897,14,1.3,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.206,0.031
$KALMAN_X,21858.8,-38.6,-136.8,-21935.2,-60.6
$KALMAN_Y,9759.4,-93.8,-218.3,-10023.1,-99.6
$MHEAD_RNG_PITCHd_Wd,63.3,619,-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,-97.8,0.0,0.0,0,75,0.00,0.00,-49.17,0.000,2,0.000,0.000,409,2211,2439
$GC,78,-1.68,-97.8,2.1,-2.9,8,151,13.35,0.00,-54.22,0.000,6,0.199,0.000,2526,2211,3602
$GC,216,-1.68,-97.8,10.2,-10.8,30,223,0.00,2.65,0.00,0.000,4,0.000,0.063,2526,794,3605
$GC,349,-1.68,-97.8,24.4,-10.1,47,354,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2187,3606
$GC,544,-1.68,-97.8,43.7,-9.0,62,548,0.00,2.58,0.00,0.000,4,0.000,0.058,2526,3605,3606
$GC,589,-1.68,-97.8,47.8,-8.9,65,596,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2191,3605
$GC,785,-1.68,-97.8,67.4,-9.9,81,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3606
$GC,977,-1.68,-97.8,86.4,-9.8,96,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2192,3605
$GC,1165,-1.68,-97.8,105.8,-11.2,111,1169,0.00,2.55,0.00,0.000,4,0.000,0.058,2526,3598,3606
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1297,-0.38,0.0,120.1,11.1,120,1379,1.45,0.00,78.00,0.674,6,0.109,0.000,2809,2080,3202
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1382,1.68,97.8,123.8,0.0,127,1464,2.12,0.00,76.88,0.654,6,0.064,0.000,3268,2081,2802
$GC,1650,1.72,130.6,110.1,6.9,149,1680,0.00,2.58,25.02,0.668,4,0.000,0.055,3268,3479,2668
$GC,1857,1.72,130.6,90.9,10.4,164,1864,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2079,2667
$GC,2053,1.72,130.6,72.7,8.9,180,2057,0.00,2.55,0.00,0.000,4,0.000,0.055,3268,3483,2666
$GC,2132,1.72,130.6,65.7,9.2,186,2136,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2080,2667
$GC,2334,1.73,136.7,47.7,8.5,202,2347,0.00,2.58,4.18,0.731,4,0.000,0.054,3268,3472,2644
$GC,2440,1.74,143.2,38.6,8.5,210,2453,0.00,2.42,4.85,0.717,6,0.000,0.036,3268,2080,2618
$GC,2642,1.74,143.2,17.7,9.1,227,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2080,2617
$GC,2713,1.74,143.2,11.1,9.8,238,2720,0.00,2.55,0.00,0.000,4,0.000,0.056,3268,3483,2617
$GC,2732,1.74,143.2,9.4,9.2,241,2739,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2074,2617
$GC,2804,1.83,217.3,5.3,4.4,252,2812,0.15,0.00,5.35,0.702,2,0.054,0.000,3304,2075,2588
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,3.8,1.021172
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2965,144.98,0.583,0,0,1367,450.13
$SM_GC,1.42,0.00,0.00,144.98,0.000,0.000,0.583,413,2214,1367,-11.44,0.42,450.13
$IRIDIUM_FIX,4722.92,-12251.79,270907,020219
$TT8_MAMPS,0.070564
$HUMID,2219
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.7,27.400
$10V_AH,10.1,18.084
$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,30.850,35.600,194.275,144.975,0.000,63.801,33.699,134.981,0.250,37.350,3585.650,14.396,507.950,1703.441,466.107,508.695,354.949,33.346,761.908,0.000,484.081,0.000,2.491
$DEVICE_MAMPS,198.653,62.894,730.951,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.945,0.000,0.000,0.000,0.000,0.000,0.000,3623.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,272
$CFSIZE,260231168,253657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,002214,4739.500,-12252.556,11,1.4,28,18.3