version: 66.02
glider: 117
mission: 4
dive: 52
start: 9 24 107 2 40 2
data:
$ID,117
$MISSION,4
$DIVE,52
$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,-17648.162
$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,23
$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
$GPS1,022644,4738.759,-12252.534,9,1.9,20,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.5
$GPS2,023856,4738.837,-12252.342,14,2.0,19,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.112
$KALMAN_X,12076.5,263.4,249.6,-12150.7,320.7
$KALMAN_Y,7346.8,-63.9,149.1,-9197.9,221.1
$MHEAD_RNG_PITCHd_Wd,219.2,1213,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,75,0.00,0.00,-48.08,0.000,2,0.000,0.000,414,2115,2432
$GC,78,-1.68,-97.8,2.2,-3.6,8,146,13.10,2.47,-46.83,0.000,4,0.193,0.064,2525,3492,3603
$GC,171,-1.68,-97.8,6.9,-11.2,23,178,0.00,2.42,0.00,0.000,6,0.000,0.033,2525,2093,3604
$GC,243,-1.68,-97.8,12.9,-8.9,34,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2094,3605
$GC,315,-1.68,-97.8,19.3,-9.2,45,322,0.00,2.53,0.00,0.000,4,0.000,0.052,2525,3497,3605
$GC,333,-1.68,-97.8,21.0,-8.8,47,340,0.00,2.45,0.00,0.000,6,0.000,0.033,2525,2097,3605
$GC,529,-1.68,-97.8,39.5,-9.7,63,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2097,3606
$GC,720,-1.68,-97.8,57.9,-9.7,78,724,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3491,3606
$GC,810,-1.68,-97.8,67.5,-10.6,84,818,0.00,2.42,0.00,0.000,6,0.000,0.034,2525,2105,3606
$GC,1007,-1.68,-97.8,87.8,-10.6,100,1011,0.00,2.62,0.00,0.000,4,0.000,0.068,2525,700,3606
$GC,1031,-1.68,-97.8,90.7,-11.2,101,1039,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2090,3606
$GC,1228,-1.68,-97.8,111.7,-10.4,117,1232,0.00,2.53,0.00,0.000,4,0.000,0.055,2524,3496,3606
$GC,1267,-1.68,-97.8,115.7,-10.1,120,1271,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2094,3606
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1321,-0.38,0.0,120.8,10.1,124,1403,1.48,0.00,77.25,0.679,6,0.105,0.000,2813,1990,3202
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1406,1.68,97.8,123.5,0.0,131,1487,2.15,0.00,75.12,0.660,6,0.062,0.000,3270,1989,2803
$GC,1676,1.71,115.9,108.1,7.8,153,1695,0.00,2.62,13.60,0.687,4,0.000,0.051,3270,3389,2729
$GC,1739,1.72,126.9,103.0,8.2,157,1752,0.00,2.45,8.12,0.694,6,0.000,0.035,3270,2007,2684
$GC,1941,1.72,126.9,84.9,9.1,173,1945,0.00,2.50,0.00,0.000,4,0.000,0.052,3270,3390,2683
$GC,2034,1.72,126.9,76.1,9.8,180,2038,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,1996,2683
$GC,2236,1.72,126.9,58.4,9.0,196,2239,0.00,2.53,0.00,0.000,4,0.000,0.052,3271,3390,2683
$GC,2315,1.72,126.9,51.0,9.5,202,2319,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2001,2683
$GC,2510,1.73,133.2,33.5,8.5,217,2523,0.00,2.58,4.35,0.726,4,0.000,0.053,3270,3388,2658
$GC,2630,1.73,138.9,22.6,8.5,226,2642,0.00,2.42,4.25,0.727,6,0.000,0.036,3270,2000,2634
$GC,2840,1.78,178.5,6.3,6.5,255,2877,0.00,2.70,30.12,0.638,4,0.000,0.070,3270,598,2473
$GC,2896,1.94,302.0,4.5,1.4,264,2972,0.22,2.47,67.50,0.607,6,0.048,0.035,3324,2008,1970
$STATE,2983,end climb,SURFACE_DEPTH_REACHED
$STATE,2983,begin surface coast
$FINISH,0.3,1.021382
$STATE,3017,end surface coast,CONTROL_FINISHED_OK
$STATE,3017,begin surface
$SM_CCo,3044,65.65,0.593,0,0,1366,450.13
$SM_GC,1.33,0.00,0.00,65.65,0.000,0.000,0.593,411,2093,1366,-11.45,-0.20,450.13
$IRIDIUM_FIX,4722.92,-12254.47,240907,060616
$TT8_MAMPS,0.071331
$HUMID,2257
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,10.0,9.3
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.7,20.636
$10V_AH,10.1,12.885
$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,30.200,50.225,280.325,65.650,0.000,97.661,65.330,309.344,1.000,16.600,3969.400,19.837,512.266,1751.350,457.701,525.586,622.038,33.335,780.778,0.000,495.878,0.000,4.104
$DEVICE_MAMPS,192.517,69.797,727.116,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.748,0.000,0.000,0.000,0.000,0.000,0.000,3986.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9604,283
$CFSIZE,260231168,255823872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,033259,4738.761,-12252.463,13,2.6,32,18.3