version: 66.02
glider: 117
mission: 4
dive: 54
start: 9 24 107 4 48 16
data:
$ID,117
$MISSION,4
$DIVE,54
$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,-17675.084
$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,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
$GPS1,043808,4738.761,-12252.458,32,1.4,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.6
$GPS2,044709,4738.818,-12252.298,12,1.6,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.093
$KALMAN_X,12764.5,367.7,409.7,-13049.5,132.0
$KALMAN_Y,7629.2,14.2,319.2,-9763.5,78.0
$MHEAD_RNG_PITCHd_Wd,225.1,1247,-20.3,-8.889
$D_GRID,128
$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,-97.8,0.0,0.0,0,70,0.00,0.00,-43.22,0.000,2,0.000,0.000,412,2100,2332
$GC,73,-1.68,-97.8,2.1,-3.2,7,146,13.07,2.55,-51.22,0.000,4,0.192,0.065,2525,3492,3603
$GC,187,-1.68,-97.8,8.7,-8.8,25,193,0.00,2.42,0.00,0.000,6,0.000,0.033,2525,2091,3604
$GC,259,-1.68,-97.8,14.7,-8.4,36,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2091,3604
$GC,337,-1.68,-97.8,21.7,-8.8,47,342,0.00,2.60,0.00,0.000,4,0.000,0.064,2524,700,3605
$GC,383,-1.68,-97.8,26.0,-9.8,50,387,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2097,3605
$GC,585,-1.68,-97.8,46.2,-10.6,66,589,0.00,2.50,0.00,0.000,4,0.000,0.054,2524,3494,3606
$GC,630,-1.68,-97.8,51.2,-11.0,69,637,0.00,2.42,0.00,0.000,6,0.000,0.034,2524,2104,3606
$GC,826,-1.68,-97.8,71.2,-10.2,85,830,0.00,2.53,0.00,0.000,4,0.000,0.053,2525,3496,3606
$GC,865,-1.68,-97.8,75.5,-10.7,88,869,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2098,3606
$GC,1067,-1.68,-97.8,96.6,-10.8,104,1071,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3500,3606
$GC,1138,-1.68,-97.8,104.5,-11.3,109,1146,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2101,3606
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1301,-0.38,0.0,120.7,10.1,122,1383,1.50,0.00,77.75,0.684,6,0.104,0.000,2815,1998,3202
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,1.68,97.8,123.2,0.0,129,1467,2.10,0.00,75.57,0.664,6,0.062,0.000,3264,1998,2803
$GC,1655,1.71,120.7,107.1,7.5,151,1680,0.00,2.58,16.95,0.681,4,0.000,0.052,3265,3392,2710
$GC,1732,1.71,121.1,100.5,8.9,157,1737,0.00,2.45,0.00,0.000,6,0.000,0.036,3265,1997,2709
$GC,1927,1.71,121.1,83.4,9.1,172,1931,0.00,2.53,0.00,0.000,4,0.000,0.052,3265,3390,2708
$GC,2046,1.71,121.1,72.7,9.2,181,2050,0.00,2.42,0.00,0.000,6,0.000,0.036,3265,2001,2708
$GC,2248,1.73,134.2,55.5,8.1,197,2261,0.00,0.00,10.40,0.692,6,0.000,0.000,3264,2001,2654
$GC,2449,1.74,139.9,38.2,8.5,213,2462,0.00,2.58,3.90,0.739,4,0.000,0.052,3265,3389,2631
$GC,2647,1.74,139.9,19.8,8.9,228,2653,0.00,2.42,0.00,0.000,6,0.000,0.036,3265,1999,2631
$GC,2719,1.74,141.9,13.8,8.8,239,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1999,2631
$GC,2791,1.76,163.1,8.2,7.6,250,2815,0.00,2.70,17.65,0.657,4,0.000,0.071,3265,600,2536
$GC,2881,1.87,252.7,2.6,3.4,264,2914,0.20,2.47,26.65,0.628,2,0.050,0.035,3312,2011,2306
$STATE,2914,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,1.1,1.021205
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3026,103.78,0.590,0,0,1367,450.13
$SM_GC,1.25,0.00,0.00,103.78,0.000,0.000,0.590,411,2097,1367,-11.45,-0.08,450.13
$IRIDIUM_FIX,4719.74,-12254.47,240907,070736
$TT8_MAMPS,0.071331
$HUMID,2276
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,8.9
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.6,20.822
$10V_AH,10.1,13.046
$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,30.650,45.250,228.875,103.775,0.000,63.666,50.246,239.284,0.750,16.600,3741.400,12.816,525.312,1704.225,454.097,520.890,493.622,33.341,767.385,0.000,498.945,0.000,4.103
$DEVICE_MAMPS,191.750,70.564,738.621,589.823,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.350,0.000,0.000,0.000,0.000,0.000,0.000,3758.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9606,282
$CFSIZE,260231168,255762432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,054129,4738.717,-12252.499,9,2.2,28,18.3