version: 66.02
glider: 117
mission: 4
dive: 29
start: 9 23 107 2 27 41
data:
$ID,117
$MISSION,4
$DIVE,29
$D_SURF,2
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17088.898
$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,2100
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,31
$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,10
$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
$GPS1,021738,4739.222,-12253.296,9,1.8,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.2
$GPS2,022635,4739.237,-12253.322,15,3.4,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,-0.159
$KALMAN_X,7694.5,23.9,67.9,-8569.6,-0.3
$KALMAN_Y,4903.8,-126.6,7.0,-5808.1,-8.8
$MHEAD_RNG_PITCHd_Wd,200.7,562,-20.8,-8.889
$D_GRID,130
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.71,-93.5,0.0,0.0,0,94,0.00,0.00,-67.22,0.000,2,0.000,0.000,413,2106,2779
$GC,97,-1.72,-97.8,2.3,-5.2,11,146,13.32,2.55,-27.12,0.000,4,0.201,0.067,2516,3493,3604
$GC,192,-1.72,-97.8,10.7,-13.0,26,199,0.00,2.42,0.00,0.000,6,0.000,0.035,2515,2095,3605
$GC,264,-1.72,-97.8,18.0,-8.7,37,271,0.00,2.60,0.00,0.000,4,0.000,0.064,2515,702,3606
$GC,520,-1.72,-97.8,45.3,-10.9,58,528,0.00,2.47,0.00,0.000,6,0.000,0.035,2515,2097,3608
$GC,716,-1.72,-97.8,64.2,-9.8,74,720,0.00,2.60,0.00,0.000,4,0.000,0.063,2515,701,3607
$GC,748,-1.72,-97.8,67.4,-10.0,76,756,0.00,2.47,0.00,0.000,6,0.000,0.036,2515,2097,3607
$GC,944,-1.72,-97.8,87.2,-10.7,92,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2097,3607
$GC,1135,-1.72,-97.8,106.8,-10.2,107,1139,0.00,2.50,0.00,0.000,4,0.000,0.056,2516,3495,3607
$GC,1199,-1.72,-97.8,114.1,-11.3,111,1207,0.00,2.42,0.00,0.000,6,0.000,0.035,2516,2101,3607
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1273,-0.38,0.0,121.3,10.6,117,1355,1.52,0.00,77.62,0.681,6,0.107,0.000,2812,1908,3202
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1356,begin climb
$GC,1358,1.72,97.8,124.4,0.0,124,1439,2.20,0.00,76.05,0.660,6,0.063,0.000,3279,1908,2803
$GC,1628,1.73,108.7,108.2,8.2,146,1640,0.00,0.00,8.18,0.709,6,0.000,0.000,3279,1908,2758
$GC,1829,1.73,108.7,89.9,8.9,162,1832,0.00,2.53,0.00,0.000,4,0.000,0.050,3279,3308,2757
$GC,1992,1.73,108.7,75.0,9.1,174,2000,0.00,2.47,0.00,0.000,6,0.000,0.036,3279,1911,2756
$GC,2189,1.74,112.9,58.2,8.6,190,2201,0.00,2.55,2.78,0.768,4,0.000,0.051,3279,3304,2741
$GC,2319,1.74,112.9,46.1,9.5,200,2324,0.00,2.47,0.00,0.000,6,0.000,0.037,3279,1911,2740
$GC,2522,1.75,121.3,28.6,8.4,216,2535,0.00,2.53,6.00,0.712,4,0.000,0.051,3279,3308,2707
$GC,2739,1.79,156.9,11.4,6.6,241,2772,0.00,2.45,27.12,0.640,6,0.000,0.037,3279,1907,2562
$GC,2837,1.80,165.7,5.0,8.3,256,2850,0.00,0.00,6.55,0.682,6,0.000,0.000,3279,1907,2525
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,0.5,1.019936
$STATE,2902,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2928,130.90,0.580,0,0,1367,450.13
$SM_GC,1.11,0.00,0.00,130.90,0.000,0.000,0.580,410,2114,1367,-11.45,0.40,450.13
$IRIDIUM_FIX,4722.92,-12251.79,230907,050555
$TT8_MAMPS,0.071331
$HUMID,2256
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.8,18.390
$10V_AH,10.1,11.048
$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,30.200,35.700,204.300,130.900,0.000,61.398,33.865,234.333,0.500,0.000,3722.000,35.238,494.295,1673.596,460.284,534.059,460.684,33.333,756.043,0.000,486.915,0.000,4.118
$DEVICE_MAMPS,200.954,67.496,767.767,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.687,0.000,0.000,0.000,0.000,0.000,0.000,3722.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,266
$CFSIZE,260231168,256581632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230907,031927,4739.070,-12253.410,13,1.3,13,18.3