version: 66.02
glider: 117
mission: 4
dive: 162
start: 9 28 107 19 30 11
data:
$ID,117
$MISSION,4
$DIVE,162
$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,-20380.793
$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,31
$R_STBD_OVSHOOT,32
$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,0
$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
$GPS1,191817,4739.400,-12252.781,10,2.7,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.8
$GPS2,192905,4739.482,-12252.729,15,2.6,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.205,-0.035
$KALMAN_X,22130.5,129.2,230.7,-22530.9,94.3
$KALMAN_Y,7075.8,-12.1,205.2,-7838.8,74.5
$MHEAD_RNG_PITCHd_Wd,241.9,591,-20.3,-8.889
$D_GRID,123
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.68,-97.8,0.0,0.0,0,89,0.00,0.00,-67.05,0.000,2,0.000,0.000,410,2186,2580
$GC,92,-1.68,-97.8,2.2,-3.8,11,160,13.18,2.58,-46.67,0.000,4,0.194,0.073,2524,805,3603
$GC,252,-1.68,-97.8,13.1,-10.1,36,258,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2209,3604
$GC,324,-1.68,-97.8,19.7,-9.6,47,330,0.00,2.50,0.00,0.000,4,0.000,0.057,2524,3597,3605
$GC,362,-1.68,-97.8,23.6,-10.1,51,367,0.00,2.40,0.00,0.000,6,0.000,0.034,2524,2203,3605
$GC,564,-1.68,-97.8,43.8,-9.9,67,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2203,3606
$GC,755,-1.68,-97.8,62.2,-9.7,82,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2203,3606
$GC,946,-1.68,-97.8,82.3,-10.8,97,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2203,3606
$GC,1134,-1.68,-97.8,101.9,-10.3,112,1138,0.00,2.60,0.00,0.000,4,0.000,0.066,2524,802,3606
$GC,1184,-1.68,-97.8,107.6,-11.1,115,1192,0.00,2.47,0.00,0.000,6,0.000,0.036,2524,2199,3606
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1309,-0.38,0.0,120.1,10.4,125,1391,1.48,0.00,77.38,0.690,6,0.104,0.000,2812,2068,3202
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1394,1.68,97.8,123.0,0.0,132,1479,2.10,0.00,76.43,0.657,6,0.061,0.000,3271,2068,2802
$GC,1668,1.73,132.3,108.1,6.8,154,1704,0.00,2.65,26.33,0.666,4,0.000,0.055,3271,3475,2661
$GC,1795,1.73,132.3,97.0,9.6,164,1800,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2087,2660
$GC,1997,1.73,132.3,78.7,9.8,180,2002,0.00,2.62,0.00,0.000,4,0.000,0.067,3271,680,2659
$GC,2055,1.73,132.3,72.8,10.3,184,2063,0.00,2.47,0.00,0.000,6,0.000,0.035,3271,2074,2659
$GC,2252,1.73,132.3,55.2,8.9,200,2256,0.00,2.55,0.00,0.000,4,0.000,0.057,3271,3482,2659
$GC,2350,1.73,132.3,45.7,9.6,207,2354,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,2075,2659
$GC,2552,1.73,132.3,26.3,9.1,223,2556,0.00,2.55,0.00,0.000,4,0.000,0.054,3271,3481,2659
$GC,2651,1.73,132.3,17.1,9.3,232,2657,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2072,2659
$GC,2723,1.77,166.9,11.8,6.8,243,2755,0.00,2.65,26.08,0.640,4,0.000,0.054,3271,3475,2521
$STATE,2800,end climb,SURFACE_DEPTH_REACHED
$STATE,2800,begin surface coast
$FINISH,3.2,1.021048
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2844,153.77,0.574,0,0,1163,500.17
$SM_GC,1.11,0.00,0.00,153.77,0.000,0.000,0.574,413,2189,1163,-11.44,-0.31,500.17
$IRIDIUM_FIX,4719.74,-12254.47,280907,232312
$TT8_MAMPS,0.028379
$HUMID,2176
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.8,31.199
$10V_AH,10.2,20.696
$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,30.450,40.250,206.200,153.775,0.000,100.133,84.347,222.483,0.500,0.000,0.000,35.620,471.068,1707.341,489.849,477.299,530.661,33.349,775.466,0.000,447.951,0.000,2.491
$DEVICE_MAMPS,194.051,72.865,689.533,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6430,258
$CFSIZE,260231168,252346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,202111,4739.390,-12253.181,8,2.6,27,18.3