version: 66.02
glider: 117
mission: 4
dive: 185
start: 9 29 107 17 37 46
data:
$ID,117
$MISSION,4
$DIVE,185
$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,-20907.213
$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,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,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
$GPS1,173027,4739.515,-12252.636,11,1.7,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.6
$GPS2,173639,4739.552,-12252.560,14,1.3,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,-0.088
$KALMAN_X,22690.3,-47.5,-40.3,-22435.0,154.3
$KALMAN_Y,7932.3,-110.9,-57.7,-8203.9,168.9
$MHEAD_RNG_PITCHd_Wd,226.6,817,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,96,0.00,0.00,-72.32,0.000,2,0.000,0.000,412,2208,2696
$GC,99,-1.68,-97.8,2.3,-4.4,12,149,13.30,0.00,-33.25,0.000,6,0.197,0.000,2527,2209,3602
$GC,214,-1.68,-97.8,8.7,-7.3,30,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2209,3604
$GC,287,-1.68,-97.8,14.9,-8.3,41,293,0.00,2.50,0.00,0.000,4,0.000,0.057,2527,3593,3604
$GC,332,-1.68,-97.8,19.6,-10.1,48,339,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2197,3605
$GC,401,-1.68,-97.8,26.6,-10.1,54,405,0.00,2.60,0.00,0.000,4,0.000,0.064,2527,800,3605
$GC,426,-1.68,-97.8,29.4,-10.7,55,433,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2187,3605
$GC,622,-1.68,-97.8,49.3,-10.1,71,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2187,3606
$GC,815,-1.68,-97.8,68.7,-10.2,86,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2187,3606
$GC,1002,-1.68,-97.8,87.5,-9.8,101,1006,0.00,2.55,0.00,0.000,4,0.000,0.058,2527,3602,3606
$GC,1040,-1.68,-97.8,91.5,-10.0,103,1047,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2197,3605
$GC,1236,-1.68,-97.8,109.7,-9.3,119,1240,0.00,2.53,0.00,0.000,4,0.000,0.057,2527,3594,3606
$GC,1295,-1.68,-97.8,115.4,-9.6,123,1299,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2202,3606
$STATE,1344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1344,begin apogee
$GC,1350,-0.38,0.0,120.3,9.9,127,1432,1.48,0.00,78.10,0.680,6,0.105,0.000,2814,2072,3202
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1435,1.68,97.8,122.6,0.0,134,1516,2.12,0.00,76.85,0.660,6,0.063,0.000,3266,2072,2803
$GC,1704,1.70,114.6,106.7,7.9,156,1722,0.00,2.58,12.70,0.693,4,0.000,0.053,3266,3477,2733
$GC,1920,1.70,114.6,85.9,10.3,172,1924,0.00,2.42,0.00,0.000,6,0.000,0.036,3266,2086,2732
$GC,2122,1.70,114.6,67.5,9.1,188,2126,0.00,2.53,0.00,0.000,4,0.000,0.054,3266,3482,2732
$GC,2154,1.70,114.6,64.5,9.4,190,2158,0.00,2.42,0.00,0.000,6,0.000,0.035,3266,2080,2731
$GC,2357,1.73,133.7,47.9,7.7,206,2380,0.00,2.62,14.27,0.681,4,0.000,0.054,3266,3476,2655
$GC,2438,1.73,133.7,40.6,9.3,212,2445,0.00,2.47,0.00,0.000,6,0.000,0.035,3266,2076,2654
$GC,2635,1.73,133.7,22.3,10.0,228,2639,0.00,2.53,0.00,0.000,4,0.000,0.054,3266,3475,2654
$GC,2707,1.73,133.7,15.0,9.7,236,2713,0.00,2.42,0.00,0.000,6,0.000,0.035,3266,2078,2654
$GC,2779,1.76,156.1,8.8,7.5,247,2804,0.00,2.70,16.83,0.659,4,0.000,0.067,3266,684,2564
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,0.6,1.021273
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2913,159.07,0.581,0,0,1162,500.17
$SM_GC,1.12,0.00,0.00,159.07,0.000,0.000,0.581,412,2203,1162,-11.44,0.08,500.17
$IRIDIUM_FIX,4722.92,-12249.11,290907,202018
$TT8_MAMPS,0.028379
$HUMID,2181
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.7,999.0
$24V_AH,23.7,32.944
$10V_AH,10.2,21.215
$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,29.900,45.450,198.750,159.075,0.000,55.920,42.914,131.837,0.500,0.000,0.000,14.083,495.607,1673.839,491.695,470.795,343.059,33.347,787.265,0.000,464.202,0.000,2.492
$DEVICE_MAMPS,197.119,66.729,692.601,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6436,264
$CFSIZE,260231168,251764736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,182945,4739.514,-12252.852,12,1.8,12,18.3