version: 66.02
glider: 117
mission: 4
dive: 140
start: 9 27 107 21 15 14
data:
$ID,117
$MISSION,4
$DIVE,140
$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,500
$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,-19876.846
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,210011,4739.414,-12252.453,9,2.2,28,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.0
$GPS2,211407,4739.413,-12252.499,14,1.4,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,0.089
$KALMAN_X,21278.6,-7.5,108.2,-21131.3,-175.6
$KALMAN_Y,8636.9,-43.3,141.3,-9429.7,-165.2
$MHEAD_RNG_PITCHd_Wd,277.1,883,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,87,0.00,0.00,-61.12,0.000,2,0.000,0.000,411,2209,2467
$GC,90,-1.68,-97.8,2.0,-3.3,10,158,13.27,2.67,-48.85,0.000,4,0.197,0.071,2526,796,3602
$GC,355,-1.68,-97.8,24.7,-10.2,48,363,0.00,2.47,0.00,0.000,6,0.000,0.035,2526,2199,3605
$GC,551,-1.68,-97.8,44.1,-9.8,64,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2199,3606
$GC,742,-1.68,-97.8,63.5,-10.4,79,746,0.00,2.60,0.00,0.000,4,0.000,0.063,2526,795,3606
$GC,774,-1.68,-97.8,67.1,-10.9,81,778,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2199,3606
$GC,976,-1.68,-97.8,88.0,-10.0,97,980,0.00,2.53,0.00,0.000,4,0.000,0.059,2526,3600,3606
$GC,1002,-1.68,-97.8,90.7,-10.6,99,1006,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2189,3606
$GC,1204,-1.68,-97.8,110.3,-10.3,115,1208,0.00,2.55,0.00,0.000,4,0.000,0.064,2526,804,3606
$GC,1275,-1.68,-97.8,117.6,-10.0,120,1282,0.00,2.47,0.00,0.000,6,0.000,0.037,2526,2202,3605
$STATE,1305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1311,-0.38,0.0,120.7,10.0,123,1393,1.48,0.00,77.72,0.685,6,0.104,0.000,2814,2069,3202
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1396,1.68,97.8,123.4,0.0,130,1477,2.15,0.00,76.07,0.662,6,0.061,0.000,3270,2069,2803
$GC,1666,1.70,111.6,107.1,8.0,152,1682,0.00,2.60,10.18,0.695,4,0.000,0.054,3270,3472,2747
$GC,1762,1.70,111.6,98.2,9.2,159,1769,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2097,2746
$GC,1958,1.71,117.4,80.7,8.5,175,1971,0.00,2.70,4.22,0.735,4,0.000,0.066,3270,685,2723
$GC,2010,1.71,117.4,76.0,9.2,179,2014,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2081,2722
$GC,2212,1.72,130.5,59.3,8.1,195,2229,0.00,2.60,9.80,0.693,4,0.000,0.058,3270,3475,2669
$GC,2282,1.72,130.5,53.1,9.2,200,2290,0.00,2.45,0.00,0.000,6,0.000,0.035,3270,2086,2669
$GC,2478,1.72,130.5,35.6,9.0,216,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2086,2669
$GC,2670,1.74,144.7,19.3,8.0,231,2682,0.00,0.00,10.95,0.677,6,0.000,0.000,3270,2086,2611
$GC,2749,1.77,166.0,12.8,7.6,243,2774,0.00,2.58,15.98,0.655,4,0.000,0.055,3270,3473,2524
$STATE,2837,end climb,SURFACE_DEPTH_REACHED
$STATE,2837,begin surface coast
$FINISH,1.3,1.020394
$STATE,2898,end surface coast,CONTROL_FINISHED_OK
$STATE,2898,begin surface
$SM_CCo,2927,153.80,0.582,0,0,1162,500.17
$SM_GC,1.18,0.00,0.00,153.80,0.000,0.000,0.582,411,2192,1162,-11.45,-0.28,500.17
$IRIDIUM_FIX,4722.92,-12253.53,280907,010107
$TT8_MAMPS,0.071331
$HUMID,2208
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.6,29.340
$10V_AH,10.1,19.717
$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,30.500,40.375,204.925,153.800,0.000,138.022,101.362,276.085,0.500,0.000,4056.000,30.862,488.508,1826.521,487.306,490.715,651.992,33.352,773.250,0.000,452.345,0.000,2.491
$DEVICE_MAMPS,197.119,71.331,734.786,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.658,0.000,0.000,0.000,0.000,0.000,0.000,4056.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,266
$CFSIZE,260231168,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270907,220721,4739.380,-12253.038,12,1.3,12,18.3