version: 66.02
glider: 117
mission: 4
dive: 51
start: 9 24 107 1 32 43
data:
$ID,117
$MISSION,4
$DIVE,51
$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,-17627.695
$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,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
$GPS1,011105,4738.654,-12252.756,13,2.4,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-60.7
$GPS2,013137,4738.796,-12252.402,17,1.8,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,-0.105
$KALMAN_X,11718.3,217.2,111.6,-11692.6,366.4
$KALMAN_Y,7150.0,-73.9,12.7,-8934.6,224.0
$MHEAD_RNG_PITCHd_Wd,221.5,1111,-20.3,-8.889
$D_GRID,129
$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,-97.8,0.0,0.0,0,113,0.00,0.00,-85.20,0.000,2,0.000,0.000,407,2093,2564
$GC,115,-1.68,-97.8,2.2,-3.8,14,177,13.23,2.58,-38.70,0.000,4,0.191,0.064,2524,3496,3603
$GC,202,-1.68,-97.8,7.2,-11.4,28,209,0.00,2.42,0.00,0.000,6,0.000,0.032,2524,2089,3603
$GC,275,-1.68,-97.8,13.3,-8.3,39,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2089,3603
$GC,346,-1.68,-97.8,20.0,-9.2,50,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2089,3605
$GC,415,-1.68,-97.8,26.3,-9.3,56,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2089,3605
$GC,605,-1.68,-97.8,44.1,-9.5,71,610,0.00,2.55,0.00,0.000,4,0.000,0.053,2524,3498,3606
$GC,650,-1.68,-97.8,48.9,-10.6,74,655,0.00,2.42,0.00,0.000,6,0.000,0.034,2524,2098,3606
$GC,852,-1.68,-97.8,69.3,-10.2,90,856,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3501,3606
$GC,893,-1.68,-97.8,73.5,-11.3,93,898,0.00,2.42,0.00,0.000,6,0.000,0.034,2524,2098,3606
$GC,1088,-1.68,-97.8,93.6,-10.4,108,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2098,3605
$GC,1277,-1.68,-97.8,112.1,-9.5,123,1281,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3502,3605
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1360,begin apogee
$GC,1368,-0.38,0.0,120.4,9.7,129,1447,1.45,0.00,74.62,0.683,6,0.107,0.000,2809,2005,3202
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1450,1.68,97.8,122.5,0.0,136,1531,2.17,0.00,75.07,0.658,6,0.064,0.000,3270,2005,2803
$GC,1720,1.70,114.3,104.4,7.9,158,1735,0.00,0.00,12.82,0.686,6,0.000,0.000,3270,2005,2735
$GC,1921,1.71,118.0,87.1,8.7,174,1928,0.00,2.58,2.50,0.768,4,0.000,0.052,3270,3394,2720
$GC,2052,1.71,122.1,75.5,8.6,183,2060,0.00,2.45,2.72,0.758,6,0.000,0.035,3270,2005,2704
$GC,2248,1.71,122.1,58.8,9.0,199,2252,0.00,2.53,0.00,0.000,4,0.000,0.053,3270,3402,2705
$GC,2306,1.71,122.1,53.2,9.8,203,2314,0.00,2.47,0.00,0.000,6,0.000,0.035,3270,2002,2705
$GC,2503,1.72,127.5,35.6,8.6,219,2516,0.00,2.58,3.95,0.734,4,0.000,0.053,3270,3397,2682
$GC,2666,1.73,132.0,20.8,8.6,231,2674,0.00,2.45,3.33,0.732,6,0.000,0.036,3270,2007,2663
$GC,2873,1.88,257.6,7.0,1.2,261,2978,0.15,2.72,95.22,0.607,4,0.054,0.070,3311,598,2151
$STATE,3035,end climb,SURFACE_DEPTH_REACHED
$STATE,3035,begin surface coast
$FINISH,0.4,1.021181
$STATE,3069,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3097,89.18,0.581,0,0,1367,450.13
$SM_GC,1.11,0.00,0.00,89.18,0.000,0.000,0.581,414,2114,1367,-11.44,0.42,450.13
$IRIDIUM_FIX,4722.92,-12251.79,240907,050522
$TT8_MAMPS,0.071331
$HUMID,2255
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,24
$ALTIM_TOP_PING,9.8,9.1
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.3,20.536
$10V_AH,10.1,12.801
$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,30.325,40.550,270.250,89.175,0.000,183.162,190.220,458.906,6.500,20.760,4759.240,33.769,517.433,1905.525,489.191,549.530,984.275,33.345,809.543,0.000,504.992,0.000,4.104
$DEVICE_MAMPS,190.983,69.797,767.767,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.553,0.000,0.000,0.000,0.000,0.000,0.000,4780.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9587,292
$CFSIZE,260231168,255856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,022644,4738.759,-12252.534,9,1.9,20,18.3