version: 66.02
glider: 117
mission: 4
dive: 47
start: 9 23 107 21 6 40
data:
$ID,117
$MISSION,4
$DIVE,47
$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,-17513.865
$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,25
$R_STBD_OVSHOOT,40
$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
$GPS1,205244,4739.058,-12253.618,12,1.4,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.8
$GPS2,210533,4739.037,-12253.543,15,1.5,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.175
$KALMAN_X,9966.7,197.3,-56.8,-11165.0,-6.0
$KALMAN_Y,6343.1,100.4,-142.7,-7693.1,-182.3
$MHEAD_RNG_PITCHd_Wd,128.9,1027,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,89,0.00,0.00,-61.25,0.000,2,0.000,0.000,410,2109,2677
$GC,92,-1.68,-97.8,2.1,-3.8,10,148,13.30,2.53,-34.00,0.000,4,0.198,0.067,2525,3496,3602
$GC,397,-1.68,-97.8,29.6,-10.3,50,405,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2098,3604
$GC,594,-1.68,-97.8,48.1,-9.4,66,598,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3490,3605
$GC,740,-1.68,-97.8,62.8,-9.5,77,744,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2098,3605
$GC,935,-1.68,-97.8,82.0,-9.7,92,939,0.00,2.53,0.00,0.000,4,0.000,0.054,2525,3494,3605
$GC,966,-1.68,-97.8,85.3,-10.7,94,974,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2100,3605
$GC,1163,-1.68,-97.8,104.1,-10.5,110,1167,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3489,3604
$GC,1228,-1.68,-97.8,111.1,-10.8,115,1232,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2101,3605
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1320,-0.38,0.0,120.1,10.2,122,1402,1.48,0.00,77.38,0.680,6,0.106,0.000,2812,1996,3202
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1405,1.68,97.8,122.1,0.0,129,1490,2.15,2.60,75.72,0.657,4,0.062,0.061,3268,3380,2802
$GC,1518,1.72,130.6,116.8,6.9,138,1549,0.00,2.42,24.90,0.669,6,0.000,0.035,3269,2001,2669
$GC,1738,1.73,131.4,97.3,8.8,156,1742,0.00,2.53,0.00,0.000,4,0.000,0.052,3268,3388,2667
$GC,1929,1.73,131.4,78.3,9.8,170,1933,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2001,2667
$GC,2131,1.73,131.4,58.8,9.9,186,2135,0.00,2.50,0.00,0.000,4,0.000,0.052,3269,3386,2666
$GC,2289,1.73,131.4,42.4,9.9,198,2293,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2005,2666
$GC,2491,1.73,131.4,23.1,9.8,214,2495,0.00,2.50,0.00,0.000,4,0.000,0.053,3269,3386,2666
$GC,2598,1.73,133.7,13.2,8.8,227,2605,0.00,2.42,1.58,0.803,6,0.000,0.036,3269,1994,2657
$GC,2672,1.77,164.9,7.6,7.0,238,2703,0.00,2.70,23.92,0.640,4,0.000,0.069,3269,598,2529
$GC,2743,1.83,215.8,3.5,5.8,249,2775,0.12,2.47,24.88,0.619,6,0.061,0.035,3299,2000,2321
$STATE,2806,end climb,SURFACE_DEPTH_REACHED
$STATE,2806,begin surface coast
$FINISH,0.4,1.021202
$STATE,2886,end surface coast,CONTROL_FINISHED_OK
$STATE,2886,begin surface
$SM_CCo,2912,109.45,0.580,0,0,1367,450.13
$SM_GC,1.01,0.00,0.00,109.45,0.000,0.000,0.580,410,2099,1367,-11.45,-0.03,450.13
$IRIDIUM_FIX,4719.74,-12251.79,240907,000020
$TT8_MAMPS,0.071331
$HUMID,2248
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.10
$XPDR_PINGS,42
$ALTIM_TOP_PING,9.4,8.7
$ALTIM_BOTTOM_PING,96.2,999.0
$24V_AH,23.8,20.109
$10V_AH,10.1,12.462
$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,30.150,45.100,228.375,109.450,0.000,102.167,73.873,344.838,11.000,16.610,3951.390,15.636,505.683,1680.592,443.939,525.420,665.060,33.333,753.355,0.000,503.079,0.000,4.102
$DEVICE_MAMPS,197.886,69.030,803.049,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.995,0.000,0.000,0.000,0.000,0.000,0.000,3968.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,271
$CFSIZE,260231168,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,215807,4738.743,-12253.349,14,1.5,30,18.3