version: 66.02
glider: 117
mission: 4
dive: 41
start: 9 23 107 14 56 58
data:
$ID,117
$MISSION,4
$DIVE,41
$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,-17372.496
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,144244,4739.448,-12252.366,8,1.6,13,18.3
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.5
$GPS2,145551,4739.533,-12252.304,13,1.9,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,-0.070
$KALMAN_X,9713.5,190.4,67.9,-9484.1,181.7
$KALMAN_Y,6899.5,279.6,60.8,-7716.9,150.5
$MHEAD_RNG_PITCHd_Wd,232.2,1128,-20.3,-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,26,-1.68,-97.8,0.0,0.0,0,83,0.00,0.00,-55.22,0.000,2,0.000,0.000,413,2104,2585
$GC,86,-1.68,-97.8,2.2,-4.7,9,147,13.30,2.67,-38.67,0.000,4,0.199,0.075,2523,700,3603
$GC,167,-1.68,-97.8,5.7,-8.5,22,173,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2097,3604
$GC,239,-1.68,-97.8,12.7,-9.9,33,245,0.00,2.53,0.00,0.000,4,0.000,0.055,2524,3498,3604
$GC,337,-1.68,-97.8,23.4,-10.2,46,344,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2095,3605
$GC,532,-1.68,-97.8,42.2,-10.0,62,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2095,3606
$GC,723,-1.68,-97.8,61.2,-10.3,77,727,0.00,2.53,0.00,0.000,4,0.000,0.055,2524,3496,3606
$GC,760,-1.68,-97.8,65.4,-10.9,79,768,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2107,3606
$GC,957,-1.68,-97.8,85.0,-10.2,95,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2107,3606
$GC,1146,-1.68,-97.8,104.6,-10.3,110,1150,0.00,2.55,0.00,0.000,4,0.000,0.055,2524,3495,3605
$GC,1177,-1.68,-97.8,107.9,-10.8,112,1185,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2104,3606
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1314,-0.38,0.0,120.8,9.4,123,1396,1.48,0.00,77.57,0.676,6,0.107,0.000,2811,1997,3202
$STATE,1397,end apogee,CONTROL_FINISHED_OK
$STATE,1397,begin climb
$GC,1399,1.68,97.8,123.2,0.0,130,1484,2.17,2.72,75.75,0.657,4,0.063,0.067,3271,605,2802
$GC,1550,1.68,97.8,114.8,9.5,142,1558,0.00,2.50,0.00,0.000,6,0.000,0.036,3272,2002,2800
$GC,1747,1.71,117.1,99.6,7.7,158,1766,0.00,2.62,14.23,0.683,4,0.000,0.055,3272,3394,2724
$GC,1847,1.71,122.3,91.0,8.6,165,1859,0.00,2.45,3.90,0.737,6,0.000,0.036,3271,1996,2702
$GC,2048,1.72,126.5,73.0,8.6,181,2060,0.00,2.60,2.80,0.759,4,0.000,0.053,3272,3393,2686
$GC,2131,1.72,126.5,65.3,9.4,187,2138,0.00,2.47,0.00,0.000,6,0.000,0.036,3272,2001,2685
$GC,2327,1.72,126.5,47.9,8.9,203,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2001,2685
$GC,2517,1.72,126.5,31.2,9.1,218,2522,0.00,2.53,0.00,0.000,4,0.000,0.054,3272,3393,2685
$GC,2689,1.73,137.7,16.2,8.2,233,2702,0.00,2.45,8.45,0.686,6,0.000,0.036,3272,1993,2640
$GC,2769,1.76,163.3,10.6,7.3,245,2793,0.00,0.00,19.45,0.642,6,0.000,0.000,3272,1993,2535
$GC,2859,1.82,206.0,4.1,6.3,259,2889,0.10,0.00,23.17,0.623,6,0.067,0.000,3297,1993,2361
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,0.4,1.020657
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2941,108.68,0.577,0,0,1366,450.13
$SM_GC,1.07,0.00,0.00,108.68,0.000,0.000,0.577,409,2107,1366,-11.46,0.20,450.13
$IRIDIUM_FIX,4722.92,-12251.79,230907,181818
$TT8_MAMPS,0.072865
$HUMID,2253
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,9.0
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.8,19.528
$10V_AH,10.1,11.995
$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,30.325,40.675,225.325,108.675,0.000,103.532,77.121,357.992,0.500,16.600,3952.400,13.167,493.989,1738.311,460.205,487.037,686.099,33.340,757.411,0.000,465.390,0.000,4.120
$DEVICE_MAMPS,198.653,75.166,759.330,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.078,0.000,0.000,0.000,0.000,0.000,0.000,3969.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,268
$CFSIZE,260231168,256196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,154833,4739.450,-12252.654,11,1.6,11,18.3