version: 66.02
glider: 117
mission: 4
dive: 196
start: 9 30 107 4 3 37
data:
$ID,117
$MISSION,4
$DIVE,196
$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,-21178.318
$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,30
$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
$GPS1,035547,4739.494,-12253.155,15,2.6,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.0
$GPS2,040231,4739.590,-12253.037,44,1.9,50,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,-0.152
$KALMAN_X,24316.7,206.0,-87.9,-24863.1,247.9
$KALMAN_Y,10056.5,273.4,-80.4,-10622.2,259.1
$MHEAD_RNG_PITCHd_Wd,204.9,307,-20.3,-8.889
$D_GRID,117
$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,21,-1.68,-97.8,0.0,0.0,0,102,0.00,0.00,-79.53,0.000,2,0.000,0.000,409,2189,2771
$GC,105,-1.68,-97.8,2.0,-3.4,13,161,13.32,2.65,-36.35,0.000,4,0.198,0.073,2524,797,3603
$GC,333,-1.68,-97.8,19.5,-10.9,48,339,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2197,3605
$GC,402,-1.68,-97.8,26.6,-10.4,54,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2197,3605
$GC,593,-1.68,-97.8,45.7,-9.8,69,597,0.00,2.60,0.00,0.000,4,0.000,0.064,2524,798,3605
$GC,630,-1.68,-97.8,49.9,-10.2,71,638,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2196,3605
$GC,827,-1.68,-97.8,68.3,-9.4,87,831,0.00,2.53,0.00,0.000,4,0.000,0.060,2525,3602,3605
$GC,881,-1.68,-97.8,73.3,-9.8,91,885,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2197,3605
$GC,1076,-1.68,-97.8,91.3,-9.1,106,1080,0.00,2.53,0.00,0.000,4,0.000,0.057,2525,3597,3605
$GC,1114,-1.68,-97.8,95.4,-10.5,108,1121,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2205,3605
$GC,1310,-1.68,-97.8,114.5,-9.8,124,1315,0.00,2.60,0.00,0.000,4,0.000,0.066,2524,801,3605
$STATE,1333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1333,begin apogee
$GC,1341,-0.38,0.0,117.1,10.1,125,1423,1.45,0.00,78.20,0.689,6,0.107,0.000,2809,2085,3202
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1426,1.68,97.8,119.9,0.0,132,1511,2.12,2.67,77.05,0.662,4,0.062,0.063,3269,683,2802
$GC,1577,1.71,119.9,113.3,7.5,144,1602,0.00,2.47,16.92,0.683,6,0.000,0.035,3269,2084,2713
$GC,1790,1.71,119.9,94.3,9.4,161,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2084,2711
$GC,1981,1.71,119.9,77.4,8.9,176,1985,0.00,2.53,0.00,0.000,4,0.000,0.059,3269,3479,2710
$GC,2151,1.71,119.9,60.9,9.3,188,2159,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2082,2710
$GC,2348,1.72,123.0,44.0,8.7,204,2355,0.00,2.58,2.00,0.792,4,0.000,0.054,3269,3475,2700
$GC,2381,1.72,123.0,41.0,9.3,206,2385,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2076,2700
$GC,2576,1.72,123.0,23.7,9.1,221,2580,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3476,2699
$GC,2642,1.72,123.0,17.7,9.4,227,2648,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2073,2700
$GC,2714,1.72,129.8,11.2,8.5,238,2725,0.00,0.00,5.20,0.716,6,0.000,0.000,3269,2073,2671
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,0.4,1.022220
$STATE,2836,end surface coast,CONTROL_FINISHED_OK
$STATE,2836,begin surface
$SM_CCo,2859,168.90,0.584,0,0,1162,500.17
$SM_GC,0.96,0.00,0.00,168.90,0.000,0.000,0.584,412,2214,1162,-11.44,0.37,500.17
$IRIDIUM_FIX,4722.92,-12251.79,300907,070731
$TT8_MAMPS,0.028379
$HUMID,2155
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.6,999.0
$24V_AH,23.6,33.783
$10V_AH,10.2,21.464
$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,29.950,45.200,179.375,168.900,0.000,63.364,38.112,124.989,0.250,0.000,0.000,50.076,482.833,1650.292,485.375,500.835,343.182,33.355,775.461,0.000,457.693,0.000,2.491
$DEVICE_MAMPS,197.886,72.865,792.311,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6440,257
$CFSIZE,260231168,251486208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,045511,4739.532,-12253.079,12,3.5,31,18.3