version: 66.02
glider: 117
mission: 4
dive: 61
start: 9 24 107 12 33 57
data:
$ID,117
$MISSION,4
$DIVE,61
$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,-17836.1
$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,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
$GPS1,122329,4738.732,-12252.744,15,3.3,34,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.6
$GPS2,123250,4738.815,-12252.624,11,1.7,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,-0.128
$KALMAN_X,15768.8,621.1,4.9,-16309.1,269.5
$KALMAN_Y,9032.3,317.8,-88.7,-11068.8,217.4
$MHEAD_RNG_PITCHd_Wd,213.9,892,-20.3,-8.889
$D_GRID,131
$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,-43.30,0.000,2,0.000,0.000,412,2086,2341
$GC,73,-1.68,-97.8,2.3,-4.4,7,140,13.15,2.55,-45.05,0.000,4,0.193,0.065,2526,3486,3602
$GC,153,-1.68,-97.8,5.7,-7.8,20,160,0.00,2.40,0.00,0.000,6,0.000,0.033,2526,2096,3603
$GC,225,-1.68,-97.8,11.6,-9.0,31,232,0.00,2.60,0.00,0.000,4,0.000,0.065,2526,706,3604
$GC,277,-1.68,-97.8,16.9,-10.6,39,284,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2107,3604
$GC,347,-1.68,-97.8,23.7,-9.7,47,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2107,3604
$GC,538,-1.68,-97.8,42.0,-9.6,62,542,0.00,2.50,0.00,0.000,4,0.000,0.055,2526,3502,3604
$GC,583,-1.68,-97.8,46.7,-10.1,65,587,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2098,3605
$GC,785,-1.68,-97.8,67.3,-10.3,81,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2098,3605
$GC,975,-1.68,-97.8,87.4,-10.5,96,980,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3498,3605
$GC,1066,-1.68,-97.8,97.1,-10.5,102,1073,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2099,3604
$GC,1262,-1.68,-97.8,116.6,-10.0,118,1266,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3501,3605
$GC,1280,-1.68,-97.8,118.6,-9.7,119,1288,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2100,3605
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1304,-0.38,0.0,120.5,10.4,121,1386,1.48,0.00,77.35,0.682,6,0.104,0.000,2814,1996,3202
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1389,1.68,97.8,123.3,0.0,128,1470,2.15,0.00,75.85,0.663,6,0.063,0.000,3270,1997,2803
$GC,1658,1.72,128.7,108.8,7.0,150,1684,0.00,0.00,23.45,0.676,6,0.000,0.000,3270,1996,2677
$GC,1871,1.72,128.7,90.4,8.9,167,1875,0.00,2.53,0.00,0.000,4,0.000,0.051,3270,3390,2675
$GC,1990,1.72,128.7,79.1,9.2,176,1994,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2002,2675
$GC,2192,1.73,132.8,61.2,8.6,192,2204,0.00,2.58,2.65,0.769,4,0.000,0.052,3270,3390,2660
$GC,2327,1.73,132.8,48.1,9.3,202,2335,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,2004,2660
$GC,2524,1.73,133.1,30.8,8.9,218,2529,0.00,2.50,0.00,0.000,4,0.000,0.052,3270,3390,2660
$GC,2570,1.73,137.2,26.7,8.6,221,2582,0.00,2.42,3.17,0.752,6,0.000,0.037,3270,2001,2642
$GC,2777,1.75,152.0,8.6,8.0,247,2796,0.00,2.55,11.18,0.676,4,0.000,0.054,3270,3393,2582
$GC,2948,1.95,310.1,3.9,-0.8,273,3035,0.25,2.42,78.93,0.607,6,0.050,0.035,3328,1993,1936
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,0.4,1.021728
$STATE,3128,end surface coast,CONTROL_FINISHED_OK
$STATE,3128,begin surface
$SM_CCo,3153,63.05,0.588,0,0,1366,450.13
$SM_GC,1.21,0.00,0.00,63.05,0.000,0.000,0.588,412,2105,1366,-11.44,0.14,450.13
$IRIDIUM_FIX,4722.92,-12256.21,240907,151533
$TT8_MAMPS,0.071331
$HUMID,2254
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,8.9
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.7,21.530
$10V_AH,10.1,13.635
$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,30.325,45.050,272.575,63.050,0.000,64.195,42.049,266.252,1.000,0.000,3969.000,16.587,541.874,1768.099,446.424,539.158,510.542,33.341,770.578,0.000,512.183,0.000,4.101
$DEVICE_MAMPS,193.284,65.195,768.534,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,211.927,0.000,0.000,0.000,0.000,0.000,0.000,3969.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9568,301
$CFSIZE,260231168,255533056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240907,132837,4738.797,-12252.679,13,1.5,29,18.3