version: 66.02
glider: 117
mission: 4
dive: 200
start: 9 30 107 8 3 13
data:
$ID,117
$MISSION,4
$DIVE,200
$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,-21270.65
$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,43
$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
$GPS1,075535,4739.568,-12252.951,12,8.2,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-56.7
$GPS2,080207,4739.654,-12252.855,11,1.9,27,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.135
$KALMAN_X,25616.7,382.0,176.1,-26376.5,216.6
$KALMAN_Y,11296.8,457.3,133.1,-12139.8,194.6
$MHEAD_RNG_PITCHd_Wd,211.3,554,-20.3,-8.889
$D_GRID,121
$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,-79.53,0.000,2,0.000,0.000,410,2220,2771
$GC,105,-1.68,-97.8,2.0,-3.4,13,161,13.27,2.70,-36.25,0.000,4,0.196,0.073,2525,800,3603
$GC,182,-1.68,-97.8,4.7,-7.2,25,189,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2191,3605
$GC,255,-1.68,-97.8,10.0,-8.3,36,261,0.00,2.55,0.00,0.000,4,0.000,0.060,2526,3597,3605
$GC,339,-1.68,-97.8,18.5,-10.4,49,346,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2198,3605
$GC,409,-1.68,-97.8,25.3,-9.8,56,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2198,3605
$GC,600,-1.68,-97.8,43.4,-9.2,71,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3605
$GC,789,-1.68,-97.8,61.7,-9.8,86,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3605
$GC,980,-1.68,-97.8,79.3,-10.0,101,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3605
$GC,1166,-1.68,-97.8,98.2,-9.9,116,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,3605
$GC,1357,-1.68,-97.8,115.7,-9.4,131,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2197,3605
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1410,-0.38,0.0,120.5,9.3,135,1492,1.48,0.00,78.20,0.698,6,0.107,0.000,2811,2072,3202
$STATE,1493,end apogee,CONTROL_FINISHED_OK
$STATE,1493,begin climb
$GC,1495,1.68,97.8,123.1,0.0,142,1580,2.10,0.00,76.60,0.673,6,0.064,0.000,3268,2072,2802
$GC,1769,1.70,110.9,106.8,8.1,164,1785,0.00,2.67,9.88,0.714,4,0.000,0.067,3268,688,2749
$GC,1839,1.70,110.9,100.4,9.0,169,1846,0.00,2.47,0.00,0.000,6,0.000,0.035,3269,2077,2748
$GC,2035,1.71,117.5,83.4,8.5,185,2048,0.00,2.58,4.72,0.751,4,0.000,0.058,3268,3468,2722
$GC,2074,1.71,120.4,80.0,8.7,188,2081,0.00,2.40,1.98,0.798,6,0.000,0.036,3268,2086,2711
$GC,2270,1.72,124.0,63.1,8.7,203,2281,0.00,2.58,2.70,0.785,4,0.000,0.055,3268,3475,2696
$GC,2313,1.72,124.0,58.7,9.6,206,2320,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2083,2696
$GC,2509,1.72,127.5,40.8,8.7,222,2521,0.00,2.60,2.47,0.786,4,0.000,0.055,3269,3481,2681
$GC,2592,1.72,127.5,32.7,9.5,228,2600,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2086,2681
$GC,2791,1.72,129.9,15.6,8.7,247,2798,0.00,2.55,1.70,0.811,4,0.000,0.055,3269,3475,2672
$GC,2844,1.72,129.9,10.5,9.8,255,2850,0.00,2.40,0.00,0.000,6,0.000,0.035,3269,2080,2672
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2907,begin surface coast
$FINISH,0.4,1.022263
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2968,begin surface
$SM_CCo,2990,168.40,0.588,0,0,1162,500.17
$SM_GC,0.99,0.00,0.00,168.40,0.000,0.000,0.588,406,2211,1162,-11.47,0.31,500.17
$IRIDIUM_FIX,4719.74,-12254.47,300907,101041
$TT8_MAMPS,0.028379
$HUMID,2178
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.7,999.0
$24V_AH,23.7,34.085
$10V_AH,10.2,21.555
$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,29.725,35.600,178.250,168.400,0.000,60.237,40.903,130.992,0.250,0.000,0.000,27.907,503.209,1769.178,486.133,475.512,346.819,33.352,777.994,0.000,454.394,0.000,2.490
$DEVICE_MAMPS,196.352,72.865,810.719,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6460,274
$CFSIZE,260231168,251383808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300907,085639,4739.486,-12253.108,13,1.7,13,18.3