version: 66.02
glider: 117
mission: 4
dive: 267
start: 10 3 107 4 27 31
data:
$ID,117
$MISSION,4
$DIVE,267
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,-22938.883
$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,32
$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,2
$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
$GPS1,041829,4740.960,-12251.471,14,2.8,33,18.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.3
$GPS2,042626,4740.987,-12251.470,14,1.4,31,18.3
$SPEED_LIMITS,0.128,0.197
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,0.174
$KALMAN_X,38731.9,328.6,-48.1,-37484.9,-209.1
$KALMAN_Y,22709.5,278.5,9.8,-20781.7,-8.4
$MHEAD_RNG_PITCHd_Wd,9.7,868,-17.4,-7.407
$D_GRID,99
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.46,-97.7,0.0,0.0,0,116,0.00,0.00,-84.68,0.000,2,0.000,0.000,408,2187,2884
$GC,119,-1.46,-97.8,2.1,-4.2,14,163,13.62,2.65,-24.80,0.000,4,0.199,0.076,2578,804,3603
$GC,275,-1.46,-97.8,17.8,-11.1,38,281,0.00,2.47,0.00,0.000,6,0.000,0.036,2578,2203,3605
$GC,351,-1.46,-97.8,24.7,-8.8,46,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2203,3605
$GC,542,-1.46,-97.8,40.1,-8.8,61,547,0.00,2.53,0.00,0.000,4,0.000,0.060,2579,3598,3605
$GC,593,-1.46,-97.8,44.9,-9.2,64,601,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2204,3605
$GC,790,-1.46,-97.8,61.5,-8.1,80,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2204,3605
$GC,981,-1.46,-97.8,77.7,-8.0,95,985,0.00,2.55,0.00,0.000,4,0.000,0.058,2578,3598,3605
$GC,1006,-1.46,-97.8,80.1,-9.1,96,1013,0.00,2.45,0.00,0.000,6,0.000,0.036,2578,2203,3605
$GC,1202,-1.46,-97.8,96.1,-8.7,112,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2203,3607
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1244,-0.38,0.0,99.5,8.8,115,1326,1.20,0.00,78.18,0.673,6,0.099,0.000,2815,2065,3202
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1330,1.46,97.8,102.0,0.0,122,1412,1.88,0.00,76.60,0.655,6,0.061,0.000,3215,2066,2803
$GC,1599,1.49,121.7,89.5,6.2,144,1624,0.00,2.65,17.92,0.679,4,0.000,0.067,3214,689,2706
$GC,1695,1.49,121.7,82.1,8.1,151,1702,0.00,2.47,0.00,0.000,6,0.000,0.035,3215,2076,2706
$GC,1892,1.50,133.7,68.3,6.8,167,1908,0.00,2.62,9.05,0.700,4,0.000,0.058,3215,3475,2657
$GC,2128,1.50,133.7,48.0,8.8,185,2132,0.00,2.42,0.00,0.000,6,0.000,0.037,3215,2086,2656
$GC,2324,1.50,133.7,32.2,7.9,200,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2086,2655
$GC,2514,1.51,141.8,17.5,7.0,217,2527,0.00,2.55,6.22,0.703,4,0.000,0.054,3215,3477,2623
$GC,2580,1.55,178.0,13.9,5.6,227,2617,0.10,2.42,28.15,0.635,6,0.063,0.036,3240,2078,2475
$GC,2684,1.57,193.4,7.2,6.6,243,2702,0.00,2.58,11.38,0.661,4,0.000,0.055,3240,3476,2413
$GC,2716,1.61,220.1,5.3,6.0,248,2729,0.00,2.45,8.50,0.657,2,0.000,0.035,3240,2077,2366
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,0.1,1.022934
$STATE,2821,end surface coast,CONTROL_FINISHED_OK
$STATE,2821,begin surface
$SM_CCo,2849,134.65,0.576,0,0,1164,500.17
$SM_GC,0.65,0.00,0.00,134.65,0.000,0.000,0.576,406,2217,1164,-11.47,0.48,500.17
$IRIDIUM_FIX,4722.92,-12244.69,031007,070749
$TT8_MAMPS,0.071331
$HUMID,2168
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,74.6,999.0
$24V_AH,23.4,40.064
$10V_AH,10.1,25.216
$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,29.600,35.700,236.000,134.650,0.000,60.203,32.361,174.831,0.250,24.910,3588.090,31.958,474.408,1602.957,481.380,501.714,427.068,33.343,776.875,0.000,456.398,0.000,2.489
$DEVICE_MAMPS,198.653,75.933,702.572,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.186,0.000,0.000,0.000,0.000,0.000,0.000,3613.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6465,264
$CFSIZE,260231168,249409536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031007,051803,4741.227,-12251.266,12,2.0,12,18.3