version: 66.02
glider: 117
mission: 4
dive: 60
start: 9 24 107 11 34 18
data:
$ID,117
$MISSION,4
$DIVE,60
$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,-17818.885
$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,32
$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
$GPS1,111307,4738.642,-12252.923,10,1.3,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-60.9
$GPS2,113311,4738.782,-12252.613,10,2.5,29,18.3
$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,15392.3,609.0,-38.7,-15869.8,222.6
$KALMAN_Y,8767.5,278.8,-119.2,-10799.2,143.2
$MHEAD_RNG_PITCHd_Wd,219.2,869,-20.3,-8.889
$D_GRID,132
$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,-97.8,0.0,0.0,0,106,0.00,0.00,-79.20,0.000,2,0.000,0.000,410,2103,2448
$GC,108,-1.68,-97.8,2.4,-4.6,13,170,13.10,2.50,-41.22,0.000,4,0.191,0.065,2526,3496,3602
$GC,183,-1.68,-97.8,5.7,-8.7,25,189,0.00,2.42,0.00,0.000,6,0.000,0.032,2526,2088,3603
$GC,255,-1.68,-97.8,11.7,-8.9,36,261,0.00,2.58,0.00,0.000,4,0.000,0.064,2525,702,3604
$GC,300,-1.68,-97.8,16.4,-10.7,43,307,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2107,3604
$GC,377,-1.68,-97.8,24.3,-10.0,52,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2108,3604
$GC,567,-1.68,-97.8,43.2,-10.3,67,572,0.00,2.47,0.00,0.000,4,0.000,0.054,2525,3494,3605
$GC,626,-1.68,-97.8,49.5,-10.5,71,630,0.00,2.40,0.00,0.000,6,0.000,0.034,2525,2097,3605
$GC,828,-1.68,-97.8,70.1,-10.2,87,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2097,3605
$GC,1018,-1.68,-97.8,89.8,-10.6,102,1023,0.00,2.50,0.00,0.000,4,0.000,0.054,2525,3493,3605
$GC,1122,-1.68,-97.8,100.9,-10.4,109,1130,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2109,3605
$STATE,1317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1317,begin apogee
$GC,1322,-0.38,0.0,120.5,9.9,125,1404,1.48,0.00,76.05,0.682,6,0.104,0.000,2814,1991,3202
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1407,1.68,97.8,123.1,0.0,132,1492,2.15,2.62,75.85,0.661,4,0.061,0.051,3272,3389,2803
$GC,1515,1.76,160.5,119.7,5.1,141,1569,0.00,2.45,48.25,0.655,6,0.000,0.035,3272,2000,2547
$GC,1758,1.76,160.5,95.7,10.8,160,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2000,2547
$GC,1948,1.76,160.5,75.4,10.2,175,1952,0.00,2.53,0.00,0.000,4,0.000,0.053,3271,3394,2547
$GC,2074,1.76,160.5,61.6,10.9,184,2078,0.00,2.45,0.00,0.000,6,0.000,0.037,3272,1996,2547
$GC,2269,1.76,160.5,41.1,10.5,199,2273,0.00,2.53,0.00,0.000,4,0.000,0.053,3272,3395,2546
$GC,2389,1.76,160.5,28.8,10.0,208,2393,0.00,2.45,0.00,0.000,6,0.000,0.037,3272,1994,2546
$GC,2589,1.76,160.5,9.2,8.9,231,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1994,2547
$GC,2660,1.80,189.8,3.4,7.1,242,2685,0.00,2.58,16.88,0.639,4,0.000,0.054,3272,3383,2427
$STATE,2689,end climb,SURFACE_DEPTH_REACHED
$STATE,2689,begin surface coast
$FINISH,1.6,1.020651
$STATE,2738,end surface coast,CONTROL_FINISHED_OK
$STATE,2738,begin surface
$SM_CCo,2766,116.07,0.591,0,0,1367,450.13
$SM_GC,1.27,0.00,0.00,116.07,0.000,0.000,0.591,412,2086,1367,-11.44,-0.40,450.13
$IRIDIUM_FIX,4722.92,-12251.79,240907,151530
$TT8_MAMPS,0.073632
$HUMID,2237
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.0
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.7,21.442
$10V_AH,10.1,13.553
$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,30.325,39.800,217.025,116.075,0.000,176.076,139.840,485.855,0.750,0.000,4405.000,30.124,470.539,1738.832,462.954,489.140,952.647,33.370,753.928,0.000,449.234,0.000,4.103
$DEVICE_MAMPS,190.983,65.195,681.863,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.320,0.000,0.000,0.000,0.000,0.000,0.000,4405.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,254
$CFSIZE,260231168,255565824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,122329,4738.732,-12252.744,15,3.3,34,18.3