version: 66.02
glider: 117
mission: 4
dive: 31
start: 9 23 107 4 22 40
data:
$ID,117
$MISSION,4
$DIVE,31
$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,-17134.004
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$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
$GPS1,041259,4738.998,-12253.572,14,2.4,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.6
$GPS2,042134,4739.045,-12253.549,11,3.0,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,-0.205
$KALMAN_X,8076.1,-83.1,112.5,-9169.8,102.7
$KALMAN_Y,5220.7,-176.8,69.5,-6492.8,119.8
$MHEAD_RNG_PITCHd_Wd,151.9,1043,-20.3,-8.889
$D_GRID,134
$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,23,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,94,0.00,0.00,-67.07,0.000,2,0.000,0.000,412,2087,2777
$GC,97,-1.68,-97.8,2.1,-3.8,11,158,13.23,2.62,-37.60,0.000,4,0.196,0.067,2526,3502,3603
$GC,203,-1.68,-97.8,7.3,-9.8,28,210,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2103,3604
$GC,276,-1.68,-97.8,15.0,-10.7,39,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2103,3605
$GC,346,-1.68,-97.8,23.1,-10.9,48,350,0.00,2.62,0.00,0.000,4,0.000,0.065,2526,698,3605
$GC,378,-1.68,-97.8,26.4,-10.3,50,383,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2111,3605
$GC,581,-1.68,-97.8,46.0,-10.1,66,585,0.00,2.50,0.00,0.000,4,0.000,0.056,2527,3502,3606
$GC,612,-1.68,-97.8,49.3,-10.8,68,619,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2100,3606
$GC,808,-1.68,-97.8,68.8,-10.3,84,812,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3502,3606
$GC,834,-1.68,-97.8,71.5,-10.5,86,838,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2096,3606
$GC,1036,-1.68,-97.8,92.0,-10.1,102,1040,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3497,3606
$GC,1102,-1.68,-97.8,99.0,-10.6,107,1106,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2095,3606
$GC,1304,-1.68,-97.8,118.1,-8.7,123,1308,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3498,3606
$STATE,1327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1327,begin apogee
$GC,1334,-0.38,0.0,120.4,9.3,124,1416,1.45,0.00,77.60,0.677,6,0.107,0.000,2811,2003,3202
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,1.68,97.8,122.6,0.0,131,1505,2.10,2.72,75.72,0.659,4,0.064,0.067,3268,594,2803
$GC,1570,1.68,97.9,114.4,8.9,143,1575,0.00,2.50,0.00,0.000,6,0.000,0.036,3268,2004,2802
$GC,1766,1.72,123.2,99.9,7.3,158,1791,0.00,2.58,19.15,0.677,4,0.000,0.055,3268,3397,2699
$GC,2043,1.72,123.2,73.3,9.3,179,2048,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,1994,2697
$GC,2238,1.72,123.2,55.2,9.3,194,2242,0.00,2.55,0.00,0.000,4,0.000,0.053,3268,3402,2697
$GC,2436,1.72,123.2,36.0,10.6,209,2441,0.00,2.47,0.00,0.000,6,0.000,0.037,3268,2001,2697
$GC,2633,1.73,133.8,17.7,8.2,226,2646,0.00,2.58,7.80,0.690,4,0.000,0.054,3268,3393,2655
$GC,2699,1.74,143.1,12.3,8.3,236,2712,0.00,2.45,6.72,0.690,6,0.000,0.036,3268,1990,2618
$GC,2778,1.77,166.3,6.3,7.5,248,2803,0.00,2.58,17.85,0.644,4,0.000,0.054,3268,3393,2523
$STATE,2848,end climb,SURFACE_DEPTH_REACHED
$STATE,2848,begin surface coast
$FINISH,1.2,1.020302
$STATE,2887,end surface coast,CONTROL_FINISHED_OK
$STATE,2887,begin surface
$SM_CCo,2916,127.47,0.580,0,0,1367,450.13
$SM_GC,1.03,0.00,0.00,127.47,0.000,0.000,0.580,410,2091,1367,-11.45,-0.25,450.13
$IRIDIUM_FIX,4722.92,-12256.21,230907,070757
$TT8_MAMPS,0.070564
$HUMID,2278
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.8,18.556
$10V_AH,10.1,11.193
$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,30.450,55.300,204.850,127.475,0.000,61.628,35.506,218.925,0.750,0.000,3707.000,31.789,504.874,1636.118,453.956,545.965,446.613,33.332,773.983,0.000,502.198,0.000,4.102
$DEVICE_MAMPS,196.352,67.496,690.300,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.915,0.000,0.000,0.000,0.000,0.000,0.000,3707.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,265
$CFSIZE,260231168,256520192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230907,051408,4738.820,-12253.391,10,1.1,10,18.3