version: 66.02
glider: 117
mission: 4
dive: 207
start: 9 30 107 14 38 39
data:
$ID,117
$MISSION,4
$DIVE,207
$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,-21458.521
$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,27
$R_STBD_OVSHOOT,44
$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
$GPS1,143135,4739.375,-12252.810,10,2.5,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-54.8
$GPS2,143732,4739.435,-12252.725,11,1.7,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.003
$KALMAN_X,26637.0,214.5,-90.4,-26797.8,43.1
$KALMAN_Y,12468.2,225.1,-6.9,-13341.2,59.2
$MHEAD_RNG_PITCHd_Wd,250.8,598,-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,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,108,0.00,0.00,-85.05,0.000,2,0.000,0.000,412,2213,2853
$GC,111,-1.68,-97.8,2.0,-3.8,14,161,13.32,2.65,-27.45,0.000,4,0.198,0.074,2525,800,3603
$GC,246,-1.68,-97.8,13.0,-8.6,35,253,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2188,3605
$GC,318,-1.68,-97.8,19.3,-9.2,46,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2188,3605
$GC,394,-1.68,-97.8,26.3,-9.3,53,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2188,3605
$GC,585,-1.68,-97.8,45.0,-9.7,68,589,0.00,2.58,0.00,0.000,4,0.000,0.063,2525,801,3605
$GC,609,-1.68,-97.8,47.8,-10.4,69,616,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2197,3605
$GC,805,-1.68,-97.8,66.8,-10.0,85,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2197,3605
$GC,998,-1.68,-97.8,86.6,-10.4,100,1002,0.00,2.60,0.00,0.000,4,0.000,0.065,2525,800,3605
$GC,1043,-1.68,-97.8,91.7,-10.6,103,1047,0.00,2.45,0.00,0.000,6,0.000,0.037,2525,2199,3605
$GC,1245,-1.68,-97.8,112.1,-10.3,119,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3605
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1325,-0.38,0.0,120.3,11.0,125,1407,1.48,0.00,78.15,0.693,6,0.107,0.000,2811,2069,3202
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1410,1.68,97.8,123.4,0.0,132,1495,2.15,2.60,76.60,0.672,4,0.063,0.056,3269,3475,2803
$GC,1580,1.68,97.8,113.7,8.9,145,1587,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2091,2801
$GC,1777,1.70,107.6,97.5,8.3,161,1790,0.00,2.53,7.20,0.723,4,0.000,0.054,3269,3476,2762
$GC,1808,1.70,114.6,94.7,8.5,163,1819,0.00,2.47,5.38,0.724,6,0.000,0.035,3270,2078,2733
$GC,2017,1.73,132.8,78.0,7.8,180,2033,0.00,0.00,13.57,0.700,6,0.000,0.000,3270,2078,2660
$GC,2231,1.73,132.8,58.0,10.0,197,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2078,2659
$GC,2422,1.73,132.8,40.3,9.3,212,2426,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3476,2658
$GC,2534,1.73,132.8,29.2,10.1,220,2538,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2078,2658
$GC,2733,1.73,132.8,9.9,9.5,242,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2078,2658
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,1.2,1.022503
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2874,169.32,0.587,0,0,1162,500.17
$SM_GC,0.95,0.00,0.00,169.32,0.000,0.000,0.587,411,2217,1162,-11.45,0.48,500.17
$IRIDIUM_FIX,4722.92,-12251.79,300907,171738
$TT8_MAMPS,0.028379
$HUMID,2147
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.7,34.619
$10V_AH,10.2,21.712
$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,30.450,30.550,180.900,169.325,0.000,64.290,32.092,115.715,0.750,0.000,0.000,16.766,482.045,1699.837,472.408,454.716,323.028,33.350,754.172,0.000,445.264,0.000,2.490
$DEVICE_MAMPS,197.886,74.399,724.048,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6453,260
$CFSIZE,260231168,251211776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,153029,4739.424,-12253.140,12,2.3,31,18.3