version: 66.02
glider: 117
mission: 4
dive: 180
start: 9 29 107 12 58 14
data:
$ID,117
$MISSION,4
$DIVE,180
$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,-20780.09
$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,40
$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
$GPS1,124723,4739.488,-12252.593,13,7.6,32,18.3
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-61.7
$GPS2,125708,4739.461,-12252.510,35,1.0,35,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,0.051
$KALMAN_X,22454.8,-26.8,-195.6,-22002.3,-102.7
$KALMAN_Y,7679.0,38.2,-165.8,-8161.7,-127.7
$MHEAD_RNG_PITCHd_Wd,265.9,864,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.68,-97.8,0.0,0.0,0,90,0.00,0.00,-67.75,0.000,2,0.000,0.000,410,2214,2608
$GC,93,-1.68,-97.8,2.4,-4.5,11,155,13.27,2.53,-38.70,0.000,4,0.196,0.069,2524,3587,3602
$GC,174,-1.68,-97.8,5.8,-8.4,24,180,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2196,3604
$GC,246,-1.68,-97.8,12.3,-8.6,35,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2196,3605
$GC,318,-1.68,-97.8,19.5,-9.6,46,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2196,3605
$GC,394,-1.68,-97.8,26.0,-8.5,53,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2196,3605
$GC,584,-1.68,-97.8,42.9,-9.1,68,589,0.00,2.53,0.00,0.000,4,0.000,0.056,2524,3591,3606
$GC,682,-1.68,-97.8,52.8,-9.9,75,686,0.00,2.40,0.00,0.000,6,0.000,0.035,2524,2200,3606
$GC,884,-1.68,-97.8,72.7,-10.0,91,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3605
$GC,1075,-1.68,-97.8,91.2,-9.6,106,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3606
$GC,1263,-1.68,-97.8,109.7,-9.8,121,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3605
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1380,-0.38,0.0,121.1,10.3,130,1462,1.48,0.00,78.10,0.681,6,0.106,0.000,2811,2077,3202
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1466,1.68,97.8,123.7,0.0,137,1552,2.10,2.58,76.97,0.663,4,0.062,0.054,3270,3472,2802
$GC,1583,1.72,129.2,118.8,7.0,146,1615,0.00,2.45,23.92,0.668,6,0.000,0.035,3270,2091,2674
$GC,1804,1.72,129.2,98.3,9.4,164,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2091,2673
$GC,1994,1.72,129.2,80.3,9.7,179,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2091,2672
$GC,2183,1.72,129.2,61.0,10.1,194,2188,0.00,2.50,0.00,0.000,4,0.000,0.055,3270,3472,2672
$GC,2234,1.72,129.2,55.8,9.9,197,2242,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2081,2672
$GC,2430,1.72,129.2,36.8,9.9,213,2434,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,3468,2672
$GC,2551,1.73,135.5,25.6,8.5,222,2563,0.00,2.42,4.30,0.726,6,0.000,0.036,3271,2071,2648
$GC,2758,1.73,135.5,9.2,9.1,248,2764,0.00,2.53,0.00,0.000,4,0.000,0.054,3271,3468,2647
$STATE,2808,end climb,SURFACE_DEPTH_REACHED
$STATE,2808,begin surface coast
$FINISH,2.3,1.020722
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2893,184.98,0.582,0,0,1163,500.17
$SM_GC,1.16,0.00,0.00,184.98,0.000,0.000,0.582,409,2184,1163,-11.45,-0.45,500.17
$IRIDIUM_FIX,4722.92,-12251.79,290907,161623
$TT8_MAMPS,0.028379
$HUMID,2174
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.7,32.571
$10V_AH,10.2,21.104
$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,30.450,29.675,183.300,184.975,0.000,103.799,125.223,130.732,0.500,0.000,0.000,35.442,486.321,1769.684,487.871,482.001,467.684,33.350,773.829,0.000,453.551,0.000,2.491
$DEVICE_MAMPS,196.352,69.030,725.582,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6439,265
$CFSIZE,260231168,251895808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,135021,4739.461,-12252.631,14,1.6,14,18.3