version: 66.02
glider: 117
mission: 4
dive: 42
start: 9 23 107 15 58 41
data:
$ID,117
$MISSION,4
$DIVE,42
$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,-17404.654
$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,39
$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
$GPS1,154833,4739.450,-12252.654,11,1.6,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.0
$GPS2,155735,4739.505,-12252.630,11,5.5,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.050
$KALMAN_X,9769.5,235.0,100.6,-10021.4,103.6
$KALMAN_Y,6986.6,314.7,78.7,-7906.2,90.7
$MHEAD_RNG_PITCHd_Wd,237.9,717,-20.3,-8.889
$D_GRID,123
$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,-97.8,0.0,0.0,0,88,0.00,0.00,-61.30,0.000,2,0.000,0.000,409,2108,2667
$GC,91,-1.68,-97.8,2.0,-3.5,10,153,13.32,2.65,-40.08,0.000,4,0.199,0.076,2525,699,3603
$GC,198,-1.68,-97.8,7.5,-9.9,27,205,0.00,2.45,0.00,0.000,6,0.000,0.037,2525,2092,3603
$GC,270,-1.68,-97.8,15.4,-11.0,38,277,0.00,2.53,0.00,0.000,4,0.000,0.055,2525,3497,3604
$GC,349,-1.68,-97.8,23.9,-10.8,48,353,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2096,3605
$GC,550,-1.68,-97.8,43.3,-9.5,64,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2096,3605
$GC,741,-1.68,-97.8,62.0,-9.9,79,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2096,3605
$GC,932,-1.68,-97.8,82.2,-10.5,94,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2097,3605
$GC,1120,-1.68,-97.8,101.9,-10.1,109,1124,0.00,2.53,0.00,0.000,4,0.000,0.056,2525,3497,3606
$GC,1178,-1.68,-97.8,108.1,-10.2,113,1182,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2099,3605
$STATE,1302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1308,-0.38,0.0,120.2,9.8,123,1390,1.48,0.00,77.43,0.680,6,0.106,0.000,2812,1996,3202
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1393,1.68,97.8,122.7,0.0,130,1478,2.17,2.62,75.60,0.660,4,0.063,0.052,3273,3395,2802
$GC,1565,1.70,111.0,113.6,8.1,144,1582,0.00,2.45,9.93,0.701,6,0.000,0.036,3273,2000,2748
$GC,1779,1.71,117.7,95.8,8.5,161,1792,0.00,2.70,4.57,0.734,4,0.000,0.069,3273,604,2722
$GC,1823,1.71,117.7,91.9,9.2,164,1831,0.00,2.50,0.00,0.000,6,0.000,0.035,3273,2006,2722
$GC,2020,1.71,117.7,75.0,9.0,180,2024,0.00,2.50,0.00,0.000,4,0.000,0.055,3273,3393,2721
$GC,2099,1.71,118.9,68.0,8.8,186,2103,0.00,2.45,0.00,0.000,6,0.000,0.037,3273,1993,2721
$GC,2294,1.72,123.0,51.0,8.6,201,2307,0.00,2.58,3.72,0.742,4,0.000,0.053,3273,3386,2700
$GC,2364,1.72,123.0,44.4,9.5,206,2372,0.00,2.45,0.00,0.000,6,0.000,0.036,3273,2002,2700
$GC,2561,1.73,136.8,27.8,8.0,222,2578,0.00,2.60,10.40,0.680,4,0.000,0.053,3273,3394,2646
$GC,2652,1.73,136.8,19.0,9.6,229,2658,0.00,2.45,0.00,0.000,6,0.000,0.036,3273,1991,2643
$GC,2724,1.76,160.7,13.1,7.4,240,2748,0.00,0.00,18.48,0.647,6,0.000,0.000,3273,1991,2545
$GC,2814,1.78,173.0,6.0,8.1,254,2832,0.00,2.62,9.00,0.663,4,0.000,0.054,3273,3398,2495
$STATE,2869,end climb,SURFACE_DEPTH_REACHED
$STATE,2869,begin surface coast
$FINISH,0.4,1.021282
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2925,124.20,0.582,0,0,1367,450.13
$SM_GC,1.12,0.00,0.00,124.20,0.000,0.000,0.582,410,2089,1367,-11.45,-0.31,450.13
$IRIDIUM_FIX,4722.92,-12251.79,230907,181817
$TT8_MAMPS,0.071331
$HUMID,2247
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,58
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.2,19.621
$10V_AH,10.1,12.071
$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,30.175,45.375,209.125,124.200,0.000,64.275,45.648,234.918,15.000,20.750,3663.250,31.529,497.458,1674.647,464.074,506.737,476.246,33.338,764.188,0.000,466.990,0.000,4.102
$DEVICE_MAMPS,198.653,75.933,741.689,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.608,0.000,0.000,0.000,0.000,0.000,0.000,3684.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,267
$CFSIZE,260231168,256163840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,165035,4739.391,-12253.080,10,2.6,29,18.3