version: 66.02
glider: 117
mission: 4
dive: 38
start: 9 23 107 11 46 20
data:
$ID,117
$MISSION,4
$DIVE,38
$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,-17310.684
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,113637,4738.951,-12252.071,16,1.5,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.5
$GPS2,114514,4739.003,-12252.010,14,1.5,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.153
$KALMAN_X,9028.3,34.2,9.1,-8216.4,101.0
$KALMAN_Y,6200.5,114.4,39.6,-7812.4,81.0
$MHEAD_RNG_PITCHd_Wd,299.1,987,-20.3,-8.889
$D_GRID,127
$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,-1.68,-97.8,0.0,0.0,0,113,0.00,0.00,-85.18,0.000,2,0.000,0.000,410,2089,2524
$GC,115,-1.68,-97.8,2.1,-3.5,14,177,13.35,2.65,-38.50,0.000,4,0.199,0.076,2525,697,3603
$GC,328,-1.68,-97.8,20.1,-10.1,47,335,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2101,3605
$GC,523,-1.68,-97.8,38.7,-9.3,63,527,0.00,2.50,0.00,0.000,4,0.000,0.055,2525,3496,3606
$GC,568,-1.68,-97.8,43.2,-9.7,66,576,0.00,2.45,0.00,0.000,6,0.000,0.034,2525,2096,3606
$GC,764,-1.68,-97.8,62.1,-9.8,82,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2096,3606
$GC,956,-1.68,-97.8,81.0,-10.0,97,961,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3498,3607
$GC,1033,-1.68,-97.8,89.6,-10.7,102,1041,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2098,3607
$GC,1230,-1.68,-97.8,109.4,-9.8,118,1234,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3502,3606
$GC,1269,-1.68,-97.8,113.5,-10.7,121,1273,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2095,3606
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1349,-0.38,0.0,120.8,9.3,127,1430,1.48,0.00,74.43,0.678,6,0.107,0.000,2812,1991,3202
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1433,1.68,97.8,123.1,0.0,134,1519,2.15,2.70,76.07,0.662,4,0.063,0.067,3268,613,2803
$GC,1606,1.72,124.1,114.9,7.3,148,1631,0.00,2.45,20.25,0.675,6,0.000,0.036,3267,2001,2695
$GC,1819,1.72,124.1,96.1,9.3,165,1823,0.00,2.53,0.00,0.000,4,0.000,0.055,3268,3393,2696
$GC,1917,1.72,124.1,86.7,9.7,172,1924,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2006,2695
$GC,2113,1.72,126.9,69.3,8.7,188,2120,0.00,2.58,1.77,0.787,4,0.000,0.053,3267,3393,2683
$GC,2238,1.72,126.9,57.7,9.4,197,2243,0.00,2.45,0.00,0.000,6,0.000,0.036,3267,2007,2685
$GC,2441,1.72,128.7,39.4,8.8,213,2445,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3399,2685
$GC,2532,1.72,128.7,31.0,9.1,219,2540,0.00,2.47,0.85,0.840,6,0.000,0.037,3267,2001,2677
$GC,2731,1.75,150.1,15.3,7.6,239,2755,0.00,2.60,16.35,0.653,4,0.000,0.054,3268,3389,2590
$GC,2888,1.81,203.4,3.7,5.6,263,2925,0.12,2.42,27.73,0.622,6,0.060,0.036,3297,1998,2371
$STATE,2942,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,0.3,1.021614
$STATE,3058,end surface coast,CONTROL_FINISHED_OK
$STATE,3058,begin surface
$SM_CCo,3083,111.35,0.587,0,0,1366,450.13
$SM_GC,1.03,0.00,0.00,111.35,0.000,0.000,0.587,413,2109,1366,-11.44,0.28,450.13
$IRIDIUM_FIX,4722.92,-12121.38,230907,141417
$TT8_MAMPS,0.071331
$HUMID,2260
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.8,19.245
$10V_AH,10.1,11.758
$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,30.375,45.500,217.450,111.350,0.000,61.625,32.688,225.309,0.750,12.450,4038.550,31.207,525.581,1740.284,468.937,551.171,453.269,33.335,790.349,0.000,513.480,0.000,5.360
$DEVICE_MAMPS,199.420,75.933,839.865,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,203.383,0.000,0.000,0.000,0.000,0.000,0.000,4051.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9584,289
$CFSIZE,260231168,256286720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,124037,4739.359,-12252.107,11,1.5,28,18.3