version: 66.02
glider: 117
mission: 4
dive: 50
start: 9 24 107 0 12 8
data:
$ID,117
$MISSION,4
$DIVE,50
$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,-17593.297
$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,32
$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
$GPS1,000214,4738.593,-12252.940,9,1.8,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.3
$GPS2,001102,4738.652,-12252.745,13,1.9,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.187,-0.092
$KALMAN_X,11008.1,179.9,6.3,-11265.2,269.5
$KALMAN_Y,6799.5,-73.2,-107.6,-8727.7,156.6
$MHEAD_RNG_PITCHd_Wd,225.5,612,-20.3,-8.889
$D_GRID,135
$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,-97.8,0.0,0.0,0,112,0.00,0.00,-85.03,0.000,2,0.000,0.000,407,2096,2549
$GC,115,-1.68,-97.8,2.2,-4.2,14,170,13.20,0.00,-38.85,0.000,6,0.194,0.000,2526,2096,3602
$GC,236,-1.68,-97.8,9.3,-8.1,33,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2097,3604
$GC,308,-1.68,-97.8,15.6,-8.9,44,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2096,3605
$GC,379,-1.68,-97.8,22.5,-9.9,53,383,0.00,2.53,0.00,0.000,4,0.000,0.053,2525,3502,3605
$GC,444,-1.68,-97.8,29.2,-10.4,58,449,0.00,2.42,0.00,0.000,6,0.000,0.033,2526,2098,3606
$GC,646,-1.68,-97.8,49.3,-10.3,74,650,0.00,2.53,0.00,0.000,4,0.000,0.053,2526,3505,3606
$GC,678,-1.68,-97.8,52.8,-11.2,76,685,0.00,2.45,0.00,0.000,6,0.000,0.033,2526,2101,3606
$GC,874,-1.68,-97.8,73.4,-10.7,92,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2101,3606
$GC,1066,-1.68,-97.8,93.0,-10.0,107,1070,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3496,3606
$GC,1125,-1.68,-97.8,99.5,-10.9,111,1129,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2094,3606
$GC,1327,-1.68,-97.8,119.1,-9.4,127,1331,0.00,2.50,0.00,0.000,4,0.000,0.055,2526,3495,3606
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1345,-0.38,0.0,120.3,9.2,128,1425,1.45,0.00,74.68,0.675,6,0.107,0.000,2809,2000,3202
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1428,1.68,97.8,122.9,0.0,135,1509,2.17,0.00,75.82,0.663,6,0.062,0.000,3273,2000,2803
$GC,1698,1.70,111.2,106.2,8.1,157,1714,0.00,2.58,10.20,0.700,4,0.000,0.052,3272,3388,2748
$GC,1803,1.70,112.5,97.5,8.8,165,1807,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,1989,2750
$GC,1998,1.71,118.9,81.0,8.5,180,2011,0.00,2.58,5.50,0.727,4,0.000,0.052,3272,3396,2717
$GC,2121,1.71,118.9,69.5,9.2,189,2129,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,1998,2718
$GC,2318,1.71,118.9,52.6,8.9,205,2322,0.00,2.53,0.00,0.000,4,0.000,0.053,3272,3395,2718
$GC,2468,1.71,121.1,38.7,8.8,216,2476,0.00,2.47,1.23,0.811,6,0.000,0.036,3272,1999,2708
$GC,2665,1.72,127.4,22.1,8.5,232,2672,0.00,0.00,5.03,0.719,6,0.000,0.000,3272,1999,2682
$GC,2862,1.74,141.5,6.3,8.0,259,2881,0.00,2.60,10.40,0.675,4,0.000,0.053,3272,3389,2625
$STATE,3123,end climb,NO_VERTICAL_VELOCITY
$STATE,3123,begin surface
$SM_CCo,3131,226.25,0.576,0,0,746,602.46
$SM_GC,1.08,12.95,0.00,0.00,0.040,0.000,0.000,407,2094,743,-11.43,-0.14,603.19
$IRIDIUM_FIX,4719.74,-12251.79,240907,030338
$TT8_MAMPS,0.071331
$HUMID,2268
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,38
$ALTIM_TOP_PING,9.8,9.1
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,20.414
$10V_AH,10.1,12.701
$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,29.775,39.975,182.850,226.250,0.000,61.105,40.888,224.084,10.000,20.750,4090.250,30.592,550.077,1896.807,555.350,559.741,462.956,33.345,870.047,0.000,517.927,0.000,4.103
$DEVICE_MAMPS,194.051,55.224,811.486,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,210.011,0.000,0.000,0.000,0.000,0.000,0.000,4111.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9571,299
$CFSIZE,260231168,255893504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,011105,4738.654,-12252.756,13,2.4,32,18.3