version: 66.02
glider: 117
mission: 4
dive: 62
start: 9 24 107 13 46 44
data:
$ID,117
$MISSION,4
$DIVE,62
$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,-17867.74
$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,26
$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
$GPS1,132837,4738.797,-12252.679,13,1.5,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.9
$GPS2,134537,4738.968,-12252.468,15,1.4,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,-0.149
$KALMAN_X,16238.5,643.8,102.0,-16706.1,233.6
$KALMAN_Y,9454.8,370.9,7.3,-11360.5,261.3
$MHEAD_RNG_PITCHd_Wd,206.1,1221,-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,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,-43.12,0.000,2,0.000,0.000,412,2105,2335
$GC,72,-1.68,-97.8,2.1,-3.4,7,139,13.15,2.47,-46.20,0.000,4,0.193,0.065,2526,3491,3603
$GC,165,-1.68,-97.8,6.1,-6.4,22,172,0.00,2.40,0.00,0.000,6,0.000,0.033,2527,2095,3604
$GC,237,-1.68,-97.8,12.3,-9.3,33,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3604
$GC,309,-1.68,-97.8,19.2,-9.7,44,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3605
$GC,385,-1.68,-97.8,26.5,-9.7,51,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3605
$GC,575,-1.68,-97.8,44.8,-9.9,66,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3605
$GC,766,-1.68,-97.8,63.7,-10.4,81,770,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3496,3605
$GC,803,-1.68,-97.8,68.0,-10.8,83,811,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2111,3606
$GC,1000,-1.68,-97.8,87.8,-10.5,99,1004,0.00,2.47,0.00,0.000,4,0.000,0.054,2526,3491,3605
$GC,1031,-1.68,-97.8,91.3,-11.2,101,1039,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2101,3605
$GC,1228,-1.68,-97.8,110.9,-9.7,117,1232,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3491,3607
$GC,1267,-1.68,-97.8,114.7,-9.8,120,1271,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2100,3605
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1328,begin apogee
$GC,1334,-0.38,0.0,120.7,9.2,125,1416,1.45,0.00,77.25,0.681,6,0.104,0.000,2811,1996,3202
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,1.68,97.8,123.3,0.0,132,1504,2.15,2.72,75.40,0.663,4,0.061,0.068,3268,605,2803
$GC,1530,1.74,142.3,119.2,6.2,141,1569,0.00,2.47,33.97,0.659,6,0.000,0.035,3268,1984,2621
$GC,1757,1.74,142.3,97.7,9.8,159,1761,0.00,2.58,0.00,0.000,4,0.000,0.057,3268,3402,2619
$GC,1895,1.74,142.3,83.8,10.0,169,1899,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,2003,2619
$GC,2097,1.74,142.3,64.8,9.4,185,2102,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3399,2619
$GC,2190,1.74,142.3,55.8,9.7,191,2196,0.00,2.45,0.00,0.000,6,0.000,0.037,3268,1997,2619
$GC,2385,1.74,142.3,37.6,9.5,207,2389,0.00,2.55,0.00,0.000,4,0.000,0.054,3268,3403,2619
$GC,2442,1.74,142.3,31.8,10.2,211,2450,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2002,2619
$GC,2642,1.74,144.9,13.7,8.7,232,2649,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3399,2619
$GC,2681,1.75,154.2,10.6,8.3,238,2699,0.00,2.45,8.50,0.682,6,0.000,0.036,3268,1996,2573
$GC,2764,1.78,176.4,3.9,7.5,250,2783,0.00,0.00,14.27,0.646,6,0.000,0.000,3268,1995,2482
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,3.2,1.021180
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2914,206.40,0.572,0,0,746,602.46
$SM_GC,1.16,12.90,0.00,0.00,0.038,0.000,0.000,411,2121,740,-11.41,0.59,603.68
$IRIDIUM_FIX,4722.92,-12251.79,240907,171727
$TT8_MAMPS,0.070564
$HUMID,2261
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.7
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.8,21.646
$10V_AH,10.1,13.725
$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,29.650,45.150,209.400,206.400,0.000,143.759,166.484,376.865,0.750,0.000,4145.000,31.015,515.256,1875.816,536.689,515.235,836.317,33.344,843.009,0.000,476.553,0.000,5.350
$DEVICE_MAMPS,192.517,68.263,681.863,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.302,0.000,0.000,0.000,0.000,0.000,0.000,4145.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,272
$CFSIZE,260231168,255504384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,144121,4738.917,-12252.456,12,1.8,12,18.3