version: 66.02
glider: 117
mission: 4
dive: 53
start: 9 24 107 3 42 40
data:
$ID,117
$MISSION,4
$DIVE,53
$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,-17661.639
$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,36
$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
$GPS1,033259,4738.761,-12252.463,13,2.6,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.4
$GPS2,034133,4738.814,-12252.314,12,1.6,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,-0.106
$KALMAN_X,12388.3,322.9,361.0,-12599.4,222.5
$KALMAN_Y,7460.4,-30.2,257.6,-9494.3,161.4
$MHEAD_RNG_PITCHd_Wd,221.2,1224,-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,-97.8,0.0,0.0,0,76,0.00,0.00,-49.33,0.000,2,0.000,0.000,411,2093,2468
$GC,79,-1.68,-97.8,2.3,-4.4,8,141,13.15,2.53,-40.40,0.000,4,0.194,0.065,2523,3493,3603
$GC,154,-1.68,-97.8,6.5,-11.2,20,161,0.00,2.45,0.00,0.000,6,0.000,0.034,2523,2086,3604
$GC,226,-1.68,-97.8,12.5,-9.7,31,233,0.00,2.60,0.00,0.000,4,0.000,0.065,2523,703,3604
$GC,272,-1.68,-97.8,17.1,-10.7,38,278,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2102,3605
$GC,342,-1.68,-97.8,23.8,-9.6,46,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2103,3604
$GC,532,-1.68,-97.8,42.0,-9.8,61,536,0.00,2.62,0.00,0.000,4,0.000,0.064,2523,702,3606
$GC,556,-1.68,-97.8,44.8,-10.6,62,564,0.00,2.47,0.00,0.000,6,0.000,0.035,2523,2097,3606
$GC,753,-1.68,-97.8,64.3,-9.9,78,757,0.00,2.53,0.00,0.000,4,0.000,0.055,2523,3505,3605
$GC,818,-1.68,-97.8,71.2,-10.9,83,823,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2079,3606
$GC,1020,-1.68,-97.8,91.6,-10.3,99,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2079,3606
$GC,1210,-1.68,-97.8,111.9,-11.0,114,1213,0.00,2.55,0.00,0.000,4,0.000,0.054,2523,3499,3605
$STATE,1287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1287,begin apogee
$GC,1294,-0.38,0.0,120.7,11.2,120,1376,1.45,0.00,77.47,0.690,6,0.108,0.000,2808,2004,3202
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.68,97.8,123.9,0.0,127,1462,2.12,2.58,75.28,0.673,4,0.064,0.051,3272,3395,2803
$GC,1502,1.72,129.9,119.6,6.9,137,1534,0.00,2.47,24.55,0.677,6,0.000,0.035,3272,2003,2671
$GC,1723,1.73,136.1,101.4,8.5,155,1735,0.00,2.55,4.07,0.748,4,0.000,0.051,3272,3390,2647
$GC,1807,1.73,136.1,93.8,9.3,161,1814,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,1999,2647
$GC,2003,1.73,136.1,75.6,9.2,177,2007,0.00,2.53,0.00,0.000,4,0.000,0.052,3272,3394,2646
$GC,2047,1.73,136.1,71.2,10.0,180,2055,0.00,2.47,0.00,0.000,6,0.000,0.036,3272,1998,2647
$GC,2244,1.73,136.1,52.7,9.1,196,2248,0.00,2.53,0.00,0.000,4,0.000,0.053,3272,3398,2646
$GC,2394,1.73,136.1,37.6,10.0,207,2402,0.00,2.47,0.00,0.000,6,0.000,0.036,3272,1999,2646
$GC,2591,1.74,145.1,20.3,8.3,223,2604,0.00,2.58,6.93,0.703,4,0.000,0.052,3272,3401,2609
$GC,2630,1.74,145.1,16.8,9.3,228,2637,0.00,2.47,0.00,0.000,6,0.000,0.035,3272,1991,2608
$GC,2703,1.74,146.4,10.6,8.8,239,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1992,2609
$GC,2774,1.77,167.3,5.2,7.6,250,2799,0.00,2.72,16.75,0.662,4,0.000,0.071,3272,598,2518
$GC,3030,1.95,315.9,5.1,-0.2,289,3130,0.25,2.47,87.47,0.608,6,0.051,0.035,3331,2017,1913
$STATE,3134,end climb,SURFACE_DEPTH_REACHED
$STATE,3134,begin surface coast
$FINISH,0.4,1.021922
$STATE,3175,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3202,60.30,0.585,0,0,1368,450.13
$SM_GC,1.31,0.00,0.00,60.30,0.000,0.000,0.585,412,2100,1368,-11.44,0.00,450.13
$IRIDIUM_FIX,4722.92,-12251.79,240907,060642
$TT8_MAMPS,0.071331
$HUMID,2279
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.8
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.5,20.731
$10V_AH,10.1,12.967
$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,30.325,55.700,292.525,60.300,0.000,63.692,32.000,232.518,0.500,16.600,3897.400,12.845,554.301,1746.773,463.411,565.444,472.922,33.335,815.923,0.000,540.757,0.000,4.102
$DEVICE_MAMPS,194.051,70.564,747.825,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,219.491,0.000,0.000,0.000,0.000,0.000,0.000,3914.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9621,312
$CFSIZE,260231168,255791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,043808,4738.761,-12252.458,32,1.4,32,18.3