version: 66.02
glider: 117
mission: 4
dive: 57
start: 9 24 107 8 4 10
data:
$ID,117
$MISSION,4
$DIVE,57
$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,-17737.967
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,075411,4738.611,-12252.854,10,4.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.5
$GPS2,080303,4738.654,-12252.720,17,1.8,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.055
$KALMAN_X,13800.5,483.7,203.9,-14521.1,21.0
$KALMAN_Y,7981.8,134.7,131.4,-10350.8,-46.4
$MHEAD_RNG_PITCHd_Wd,236.3,643,-20.3,-8.889
$D_GRID,135
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,71,0.00,0.00,-43.17,0.000,2,0.000,0.000,413,2090,2352
$GC,74,-1.68,-97.8,2.2,-3.8,7,142,13.15,2.53,-47.62,0.000,4,0.193,0.064,2527,3493,3601
$GC,149,-1.68,-97.8,5.0,-7.9,19,156,0.00,2.40,0.00,0.000,6,0.000,0.032,2527,2093,3603
$GC,221,-1.68,-97.8,10.1,-8.3,30,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2095,3603
$GC,293,-1.68,-97.8,17.6,-10.4,41,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2093,3603
$GC,369,-1.68,-97.8,25.1,-9.9,49,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2093,3603
$GC,560,-1.68,-97.8,44.2,-10.2,64,564,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3495,3604
$GC,631,-1.68,-97.8,52.2,-11.2,69,636,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2088,3604
$GC,833,-1.68,-97.8,72.6,-10.1,85,837,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3494,3605
$GC,891,-1.68,-97.8,78.8,-11.2,89,899,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2105,3604
$GC,1088,-1.68,-97.8,99.4,-10.3,105,1092,0.00,2.50,0.00,0.000,4,0.000,0.054,2527,3495,3604
$GC,1140,-1.68,-97.8,104.9,-10.3,109,1144,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2094,3604
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1291,begin apogee
$GC,1296,-0.38,0.0,120.3,9.9,121,1378,1.48,0.00,77.45,0.686,6,0.105,0.000,2816,1990,3202
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,1.68,97.8,123.1,0.0,128,1461,2.12,0.00,75.78,0.667,6,0.063,0.000,3268,1989,2803
$GC,1650,1.71,120.3,108.1,7.5,150,1675,0.00,2.60,17.00,0.680,4,0.000,0.052,3268,3395,2711
$GC,1746,1.71,120.3,99.8,9.5,157,1753,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2011,2709
$GC,1942,1.73,131.6,83.1,8.2,173,1956,0.00,2.58,8.38,0.702,4,0.000,0.052,3268,3393,2665
$GC,2066,1.73,131.6,71.7,9.4,182,2074,0.00,2.47,0.00,0.000,6,0.000,0.035,3268,2000,2664
$GC,2263,1.73,131.6,54.4,8.9,198,2267,0.00,2.53,0.00,0.000,4,0.000,0.053,3268,3396,2664
$GC,2334,1.73,131.6,47.8,9.0,203,2341,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,1996,2664
$GC,2530,1.73,131.6,30.1,9.1,219,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1996,2664
$GC,2724,1.74,140.4,12.7,8.4,240,2737,0.00,2.55,6.50,0.701,4,0.000,0.053,3268,3392,2628
$GC,2837,1.74,140.4,3.4,9.0,257,2843,0.00,2.42,0.00,0.000,6,0.000,0.037,3268,2000,2628
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,1.6,1.020252
$STATE,2894,end surface coast,CONTROL_FINISHED_OK
$STATE,2894,begin surface
$SM_CCo,2902,225.07,0.581,0,0,746,602.46
$SM_GC,1.10,12.90,0.00,0.00,0.038,0.000,0.000,411,2110,742,-11.41,0.25,603.44
$IRIDIUM_FIX,4722.92,-12251.79,240907,101025
$TT8_MAMPS,0.072098
$HUMID,2271
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.2
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.5,21.124
$10V_AH,10.1,13.292
$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,29.650,40.125,185.100,225.075,0.000,55.920,40.964,241.051,0.750,12.450,3646.550,17.438,504.575,1790.327,535.857,488.247,476.952,33.341,824.512,0.000,461.779,0.000,4.102
$DEVICE_MAMPS,193.284,64.428,701.805,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.494,0.000,0.000,0.000,0.000,0.000,0.000,3659.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,266
$CFSIZE,260231168,255672320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,085907,4738.595,-12252.975,9,1.7,25,18.3