version: 66.02
glider: 117
mission: 4
dive: 55
start: 9 24 107 5 54 40
data:
$ID,117
$MISSION,4
$DIVE,55
$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,-17686.633
$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,37
$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
$GPS1,054129,4738.717,-12252.499,9,2.2,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.1
$GPS2,055332,4738.765,-12252.318,10,1.8,10,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,-0.072
$KALMAN_X,13176.0,408.4,392.1,-13511.3,104.7
$KALMAN_Y,7755.3,47.8,305.3,-10006.4,29.4
$MHEAD_RNG_PITCHd_Wd,231.4,1184,-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,24,-1.68,-97.8,0.0,0.0,0,69,0.00,0.00,-43.20,0.000,2,0.000,0.000,411,2098,2346
$GC,72,-1.68,-97.8,2.1,-3.4,7,140,13.12,2.58,-48.75,0.000,4,0.193,0.066,2526,3495,3603
$GC,172,-1.68,-97.8,8.4,-13.2,23,179,0.00,2.42,0.00,0.000,6,0.000,0.034,2525,2095,3604
$GC,245,-1.68,-97.8,14.7,-9.7,34,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2093,3604
$GC,315,-1.68,-97.8,21.2,-9.4,44,320,0.00,2.60,0.00,0.000,4,0.000,0.064,2525,699,3605
$GC,348,-1.68,-97.8,24.4,-9.9,46,352,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2099,3605
$GC,550,-1.68,-97.8,44.2,-9.9,62,554,0.00,2.53,0.00,0.000,4,0.000,0.055,2525,3502,3606
$GC,594,-1.68,-97.8,49.0,-10.9,65,602,0.00,2.45,0.00,0.000,6,0.000,0.034,2526,2102,3606
$GC,791,-1.68,-97.8,69.1,-10.2,81,795,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3502,3606
$GC,849,-1.68,-97.8,75.2,-10.2,85,856,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2104,3606
$GC,1046,-1.68,-97.8,95.3,-10.4,101,1050,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3496,3606
$GC,1104,-1.68,-97.8,101.7,-10.6,105,1108,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2095,3606
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1297,-0.38,0.0,120.2,9.5,120,1379,1.48,0.00,77.68,0.683,6,0.105,0.000,2814,1991,3202
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1382,1.68,97.8,123.0,0.0,127,1468,2.10,2.67,75.72,0.663,4,0.064,0.068,3269,605,2803
$GC,1560,1.71,118.9,115.1,7.6,141,1586,0.00,2.45,15.75,0.680,6,0.000,0.035,3269,2003,2717
$GC,1774,1.73,134.0,98.4,8.0,158,1790,0.00,2.58,11.40,0.696,4,0.000,0.055,3269,3396,2655
$GC,1896,1.73,134.0,86.9,9.1,167,1904,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2008,2654
$GC,2093,1.73,134.0,68.4,9.4,183,2097,0.00,2.50,0.00,0.000,4,0.000,0.053,3269,3391,2654
$GC,2172,1.73,134.0,60.7,9.8,189,2176,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2000,2654
$GC,2374,1.73,134.0,42.0,9.3,205,2378,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3394,2653
$GC,2493,1.73,134.0,30.5,10.0,214,2497,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2002,2653
$GC,2691,1.74,140.9,13.5,8.5,234,2704,0.00,2.55,4.85,0.721,4,0.000,0.054,3269,3389,2627
$GC,2783,1.76,161.2,6.2,7.7,248,2807,0.00,2.42,15.55,0.657,6,0.000,0.036,3269,2000,2545
$GC,2873,1.97,332.1,4.8,-1.5,262,2979,0.28,0.00,101.32,0.602,2,0.047,0.000,3336,1999,1855
$STATE,2980,end climb,SURFACE_DEPTH_REACHED
$STATE,2980,begin surface coast
$FINISH,0.5,1.021460
$STATE,3005,end surface coast,CONTROL_FINISHED_OK
$STATE,3005,begin surface
$SM_CCo,3031,53.00,0.583,0,0,1367,450.13
$SM_GC,1.43,0.00,0.00,53.00,0.000,0.000,0.583,410,2109,1367,-11.45,0.25,450.13
$IRIDIUM_FIX,4719.74,-12251.79,240907,090902
$TT8_MAMPS,0.070564
$HUMID,2269
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.1
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.1,20.922
$10V_AH,10.1,13.129
$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,30.400,50.225,302.275,53.000,0.000,99.149,134.910,245.773,0.750,12.450,3976.550,10.920,508.492,1719.540,447.128,537.576,623.820,33.337,787.659,0.000,515.403,0.000,5.211
$DEVICE_MAMPS,192.517,68.263,720.980,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.985,0.000,0.000,0.000,0.000,0.000,0.000,3989.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9603,283
$CFSIZE,260231168,255729664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,064711,4738.663,-12252.669,12,3.2,31,18.3