version: 66.02
glider: 117
mission: 4
dive: 308
start: 10 5 107 1 4 1
data:
$ID,117
$MISSION,4
$DIVE,308
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,90
$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,15
$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,450
$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,-24035.748
$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,40
$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
$GPS1,004017,4744.687,-12250.483,9,2.7,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-60.8
$GPS2,010237,4744.505,-12250.583,16,1.4,32,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,0.222
$KALMAN_X,39327.5,2.9,-73.5,-36615.9,21.5
$KALMAN_Y,22199.9,-200.4,-192.1,-13066.8,-156.4
$MHEAD_RNG_PITCHd_Wd,14.1,327,-10.9,-7.037
$D_GRID,145
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.96,-97.8,0.0,0.0,0,108,0.00,0.00,-78.40,0.000,2,0.000,0.000,408,2215,2979
$GC,111,-0.96,-97.8,2.1,-3.9,13,148,14.18,0.00,-19.85,0.000,6,0.193,0.000,2683,2216,3603
$GC,214,-0.96,-97.8,9.0,-7.3,29,220,0.00,2.65,0.00,0.000,4,0.000,0.063,2684,799,3605
$GC,253,-0.96,-97.8,11.8,-7.5,35,260,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2196,3605
$GC,326,-0.96,-97.8,16.8,-7.0,46,332,0.00,2.53,0.00,0.000,4,0.000,0.058,2684,3592,3605
$GC,359,-0.96,-97.8,18.9,-6.2,51,365,0.00,2.42,0.00,0.000,6,0.000,0.035,2684,2186,3605
$GC,430,-0.96,-97.8,22.8,-5.5,58,434,0.00,2.58,0.00,0.000,4,0.000,0.064,2684,798,3605
$GC,476,-0.96,-97.8,25.6,-5.9,61,480,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2201,3604
$GC,672,-0.96,-97.8,36.9,-6.1,76,676,0.00,2.60,0.00,0.000,4,0.000,0.061,2684,799,3605
$GC,723,-0.96,-97.8,40.1,-5.8,79,730,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2203,3605
$GC,920,-0.96,-97.8,51.7,-6.2,95,924,0.00,2.58,0.00,0.000,4,0.000,0.060,2684,805,3605
$GC,972,-0.96,-97.8,54.8,-5.8,98,978,0.00,2.42,0.00,0.000,6,0.000,0.035,2684,2200,3605
$GC,1168,-0.96,-97.8,66.4,-6.1,114,1173,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,797,3605
$GC,1228,-0.96,-97.8,69.9,-6.1,118,1233,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2204,3605
$GC,1431,-0.96,-97.8,82.0,-6.6,134,1435,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,803,3605
$GC,1504,-0.96,-97.8,86.4,-6.0,139,1508,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2207,3605
$STATE,1673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1673,begin apogee
$GC,1680,-0.38,0.0,95.5,5.7,152,1761,0.60,0.00,77.35,0.670,6,0.074,0.000,2812,2063,3202
$STATE,1761,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1765,0.96,97.8,98.9,0.0,159,1848,1.38,2.62,75.75,0.648,4,0.061,0.064,3106,696,2803
$GC,1883,1.11,219.0,97.2,4.1,169,1984,0.15,2.45,93.12,0.638,6,0.044,0.035,3151,2087,2309
$GC,2183,1.11,219.0,76.2,7.9,193,2187,0.00,2.53,0.00,0.000,4,0.000,0.058,3151,3475,2308
$GC,2268,1.11,219.0,68.9,8.9,199,2272,0.00,2.40,0.00,0.000,6,0.000,0.036,3151,2095,2307
$GC,2471,1.11,219.0,52.7,8.1,215,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2095,2307
$GC,2662,1.11,219.0,37.9,7.8,230,2666,0.00,2.50,0.00,0.000,4,0.000,0.056,3151,3474,2307
$GC,2700,1.11,219.0,34.4,8.8,232,2707,0.00,2.45,0.00,0.000,6,0.000,0.036,3151,2086,2307
$GC,2896,1.11,219.0,19.2,7.8,248,2902,0.00,2.50,0.00,0.000,4,0.000,0.054,3151,3468,2307
$GC,2935,1.11,219.0,16.1,7.8,254,2942,0.00,2.42,0.00,0.000,6,0.000,0.037,3151,2078,2306
$GC,3008,1.18,276.1,11.7,5.7,265,3056,0.00,0.00,43.50,0.620,6,0.000,0.000,3150,2078,2075
$STATE,3107,end climb,SURFACE_DEPTH_REACHED
$STATE,3107,begin surface coast
$FINISH,-0.1,1.022619
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3229,78.07,0.582,0,0,1366,450.13
$SM_GC,0.67,0.00,0.00,78.07,0.000,0.000,0.582,406,2206,1366,-11.47,0.17,450.13
$IRIDIUM_FIX,4726.11,-12248.15,051007,040447
$TT8_MAMPS,0.072098
$HUMID,2177
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,44.201
$10V_AH,10.1,28.731
$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,28.575,55.425,289.725,78.075,0.000,184.978,208.944,535.992,0.750,0.000,4797.000,32.240,555.077,1964.807,460.438,572.060,1137.285,33.334,813.477,0.000,527.620,0.000,2.505
$DEVICE_MAMPS,193.284,64.428,669.591,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,208.780,0.000,0.000,0.000,0.000,0.000,0.000,4797.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,9539,295
$CFSIZE,260231168,247930880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,020017,4744.639,-12250.445,11,2.1,31,18.3