version: 66.02
glider: 117
mission: 4
dive: 40
start: 9 23 107 13 53 41
data:
$ID,117
$MISSION,4
$DIVE,40
$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,-17358.703
$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,35
$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
$GPS1,134259,4739.508,-12252.276,10,2.5,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.9
$GPS2,135235,4739.548,-12252.211,12,7.5,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.117
$KALMAN_X,9514.8,142.8,45.3,-9102.0,164.2
$KALMAN_Y,6702.8,224.4,40.0,-7416.7,168.1
$MHEAD_RNG_PITCHd_Wd,213.3,281,-22.7,-8.889
$D_GRID,124
$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,25,-1.84,-78.6,0.0,0.0,0,82,0.00,0.00,-55.08,0.000,2,0.000,0.000,410,2105,2571
$GC,85,-1.87,-97.8,2.2,-3.9,9,140,13.20,0.00,-37.20,0.000,6,0.202,0.000,2484,2107,3602
$GC,205,-1.87,-97.8,10.8,-10.8,28,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2107,3604
$GC,277,-1.87,-97.8,19.1,-11.9,39,284,0.00,2.65,0.00,0.000,4,0.000,0.064,2484,693,3604
$GC,308,-1.87,-97.8,22.8,-11.8,42,316,0.00,2.50,0.00,0.000,6,0.000,0.035,2484,2097,3605
$GC,505,-1.87,-97.8,44.4,-11.3,58,509,0.00,2.50,0.00,0.000,4,0.000,0.055,2484,3498,3606
$GC,563,-1.87,-97.8,51.3,-11.7,62,570,0.00,2.45,0.00,0.000,6,0.000,0.035,2484,2101,3606
$GC,759,-1.87,-97.8,74.2,-11.7,78,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2101,3606
$GC,951,-1.87,-97.8,96.0,-11.5,93,955,0.00,2.50,0.00,0.000,4,0.000,0.054,2484,3501,3606
$GC,1001,-1.87,-97.8,102.3,-12.2,96,1009,0.00,2.45,0.00,0.000,6,0.000,0.035,2484,2102,3606
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1178,-0.38,0.0,121.3,10.7,110,1260,1.67,0.00,77.38,0.679,6,0.114,0.000,2810,1998,3202
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1262,1.87,97.8,124.1,0.0,117,1348,2.30,2.70,75.62,0.660,4,0.064,0.067,3312,598,2803
$GC,1432,1.87,97.8,112.8,10.4,130,1440,0.00,2.50,0.00,0.000,6,0.000,0.035,3312,2000,2801
$GC,1629,1.87,100.1,95.7,8.7,146,1633,0.00,2.50,0.00,0.000,4,0.000,0.055,3313,3392,2800
$GC,1787,1.87,102.5,81.5,8.7,158,1800,0.00,2.45,3.20,0.752,6,0.000,0.036,3312,1994,2783
$GC,1988,1.89,112.1,64.7,8.2,174,2001,0.00,2.55,7.35,0.704,4,0.000,0.053,3312,3392,2743
$GC,2072,1.89,112.1,57.0,9.5,180,2080,0.00,2.45,0.00,0.000,6,0.000,0.036,3312,2007,2743
$GC,2269,1.89,112.1,38.8,9.3,196,2272,0.00,2.53,0.00,0.000,4,0.000,0.054,3312,3392,2744
$GC,2353,1.89,112.1,30.9,9.3,202,2360,0.00,2.45,0.00,0.000,6,0.000,0.036,3312,2007,2742
$GC,2553,1.91,134.3,14.5,7.2,223,2572,0.00,0.00,16.45,0.654,6,0.000,0.000,3312,2007,2654
$GC,2639,1.95,162.8,8.7,6.7,236,2669,0.00,2.58,21.73,0.634,4,0.000,0.054,3312,3390,2537
$GC,2688,1.95,166.5,4.4,8.6,244,2696,0.00,2.45,2.50,0.725,6,0.000,0.036,3312,1999,2523
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2720,begin surface coast
$FINISH,0.4,1.020508
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2768,127.93,0.581,0,0,1367,450.13
$SM_GC,1.12,0.00,0.00,127.93,0.000,0.000,0.581,413,2104,1367,-11.44,0.11,450.13
$IRIDIUM_FIX,4719.74,-12247.38,230907,161616
$TT8_MAMPS,0.071331
$HUMID,2261
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.8,19.427
$10V_AH,10.1,11.911
$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,30.550,40.500,204.225,127.925,0.000,60.323,37.492,276.943,0.500,16.600,3556.400,31.894,472.914,1566.327,460.006,489.647,510.195,33.330,748.784,0.000,452.003,0.000,5.383
$DEVICE_MAMPS,202.488,67.496,752.427,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.789,0.000,0.000,0.000,0.000,0.000,0.000,3573.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,252
$CFSIZE,260231168,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,144244,4739.448,-12252.366,8,1.6,13,18.3