version: 66.02
glider: 117
mission: 4
dive: 49
start: 9 23 107 23 6 58
data:
$ID,117
$MISSION,4
$DIVE,49
$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,-17562.076
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,225705,4738.582,-12253.085,10,4.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.5
$GPS2,230551,4738.628,-12252.934,13,1.9,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,-0.083
$KALMAN_X,10456.0,166.3,-45.5,-10878.8,118.3
$KALMAN_Y,6587.9,-39.1,-175.8,-8527.8,50.9
$MHEAD_RNG_PITCHd_Wd,225.1,379,-23.1,-8.889
$D_GRID,136
$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,-1.87,-76.3,0.0,0.0,0,119,0.00,0.00,-91.10,0.000,2,0.000,0.000,407,2087,2675
$GC,122,-1.89,-97.8,2.3,-4.7,15,172,12.85,2.60,-30.88,0.000,4,0.193,0.064,2481,3502,3602
$GC,205,-1.89,-97.8,7.1,-8.0,28,212,0.00,2.42,0.00,0.000,6,0.000,0.033,2481,2096,3604
$GC,277,-1.89,-97.8,14.0,-10.2,39,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2095,3604
$GC,353,-1.89,-97.8,23.1,-11.9,49,358,0.00,2.60,0.00,0.000,4,0.000,0.064,2481,705,3605
$GC,378,-1.89,-97.8,26.2,-12.1,50,386,0.00,2.47,0.00,0.000,6,0.000,0.035,2481,2099,3605
$GC,575,-1.89,-97.8,48.6,-11.3,66,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2099,3606
$GC,767,-1.89,-97.8,70.1,-11.1,81,771,0.00,2.53,0.00,0.000,4,0.000,0.055,2481,3498,3606
$GC,825,-1.89,-97.8,77.5,-12.2,85,829,0.00,2.42,0.00,0.000,6,0.000,0.035,2481,2098,3606
$GC,1029,-1.89,-97.8,100.5,-11.3,101,1033,0.00,2.53,0.00,0.000,4,0.000,0.054,2481,3499,3606
$GC,1066,-1.89,-97.8,105.2,-12.2,103,1074,0.00,2.45,0.00,0.000,6,0.000,0.035,2481,2103,3606
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1203,-0.38,0.0,120.1,11.3,114,1285,1.73,0.00,74.25,0.673,6,0.110,0.000,2815,1997,3204
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1288,1.89,97.8,122.4,0.0,121,1369,2.35,0.00,76.32,0.660,6,0.060,0.000,3317,1997,2803
$GC,1558,1.89,97.8,103.2,9.2,143,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1997,2804
$GC,1748,1.90,99.0,86.0,8.8,158,1752,0.00,2.53,0.00,0.000,4,0.000,0.053,3317,3395,2804
$GC,1918,1.90,99.0,69.9,9.1,170,1926,0.00,2.45,0.00,0.000,6,0.000,0.035,3317,2008,2803
$GC,2115,1.91,109.7,53.8,8.1,186,2129,0.00,2.53,8.98,0.696,4,0.000,0.052,3317,3396,2753
$GC,2186,1.91,109.7,47.4,9.2,191,2194,0.00,2.47,0.00,0.000,6,0.000,0.035,3317,2001,2754
$GC,2383,1.92,114.6,30.4,8.5,207,2396,0.00,2.60,3.33,0.740,4,0.000,0.053,3317,3397,2734
$GC,2507,1.92,121.3,19.4,8.4,217,2520,0.00,2.45,4.80,0.713,6,0.000,0.036,3317,1991,2707
$GC,2588,1.95,139.0,13.3,7.5,229,2605,0.00,0.00,13.27,0.663,6,0.000,0.000,3317,1991,2635
$GC,2672,1.95,139.0,6.1,9.1,242,2678,0.00,2.55,0.00,0.000,4,0.000,0.053,3317,3395,2635
$STATE,2920,end climb,NO_VERTICAL_VELOCITY
$STATE,2921,begin surface
$SM_CCo,2928,227.02,0.574,0,0,746,602.46
$SM_GC,1.00,13.12,0.00,0.00,0.039,0.000,0.000,407,2099,742,-11.42,-0.03,603.68
$IRIDIUM_FIX,4722.92,-12249.11,240907,020238
$TT8_MAMPS,0.072098
$HUMID,2276
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.7,9.0
$ALTIM_BOTTOM_PING,96.3,999.0
$24V_AH,23.8,20.311
$10V_AH,10.1,12.616
$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,30.050,40.075,180.950,227.025,0.000,62.398,37.101,241.046,2.250,16.600,3915.400,13.423,515.472,1759.396,564.025,506.395,477.544,33.330,864.355,0.000,483.049,0.000,5.249
$DEVICE_MAMPS,192.517,64.428,740.155,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.735,0.000,0.000,0.000,0.000,0.000,0.000,3932.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,280
$CFSIZE,260231168,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,000214,4738.593,-12252.940,9,1.8,14,18.3