version: 66.02
glider: 117
mission: 4
dive: 63
start: 9 24 107 14 52 23
data:
$ID,117
$MISSION,4
$DIVE,63
$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,-17899.312
$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,23
$R_STBD_OVSHOOT,41
$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
$GPS1,144121,4738.917,-12252.456,12,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.1
$GPS2,145117,4739.015,-12252.322,11,2.2,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.151
$KALMAN_X,16672.8,636.3,205.4,-17054.3,191.9
$KALMAN_Y,9767.3,400.8,125.8,-11732.1,246.2
$MHEAD_RNG_PITCHd_Wd,205.4,1416,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,100,0.00,0.00,-73.05,0.000,2,0.000,0.000,412,2119,2285
$GC,103,-1.68,-97.8,2.0,-3.1,12,177,13.10,2.70,-50.45,0.000,4,0.192,0.074,2526,701,3602
$GC,184,-1.68,-97.8,4.8,-5.8,25,191,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2101,3603
$GC,256,-1.68,-97.8,10.1,-7.4,36,263,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3495,3604
$GC,341,-1.68,-97.8,18.3,-9.8,49,348,0.00,2.42,0.00,0.000,6,0.000,0.034,2526,2092,3604
$GC,411,-1.68,-97.8,24.7,-9.5,56,415,0.00,2.60,0.00,0.000,4,0.000,0.065,2526,699,3604
$GC,430,-1.68,-97.8,26.6,-9.4,57,434,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2101,3604
$GC,632,-1.68,-97.8,47.0,-10.0,73,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2101,3605
$GC,822,-1.68,-97.8,66.4,-10.2,88,827,0.00,2.50,0.00,0.000,4,0.000,0.056,2526,3496,3605
$GC,867,-1.68,-97.8,71.4,-10.7,91,872,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2094,3605
$GC,1069,-1.68,-97.8,92.2,-10.1,107,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2094,3604
$GC,1259,-1.68,-97.8,112.0,-10.8,122,1263,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3496,3605
$GC,1304,-1.68,-97.8,116.5,-10.5,125,1308,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2101,3605
$STATE,1340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1346,-0.38,0.0,120.3,9.9,128,1428,1.48,0.00,76.07,0.679,6,0.104,0.000,2814,1998,3202
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1431,1.68,97.8,122.8,0.0,135,1512,2.15,0.00,75.57,0.660,6,0.061,0.000,3272,1998,2803
$GC,1701,1.71,118.9,106.7,7.6,157,1719,0.00,0.00,15.73,0.683,6,0.000,0.000,3272,1998,2717
$GC,1901,1.72,127.6,90.4,8.4,173,1914,0.00,2.55,6.75,0.709,4,0.000,0.052,3272,3395,2681
$GC,2046,1.72,127.6,77.3,9.2,184,2050,0.00,2.42,0.00,0.000,6,0.000,0.037,3272,2003,2681
$GC,2248,1.72,128.3,59.6,8.8,200,2253,0.00,2.50,0.00,0.000,4,0.000,0.052,3272,3392,2681
$GC,2334,1.72,128.3,51.5,9.6,206,2338,0.00,2.45,0.00,0.000,6,0.000,0.037,3272,1991,2681
$GC,2529,1.72,130.1,33.8,8.8,221,2535,0.00,2.55,1.42,0.806,4,0.000,0.053,3272,3396,2671
$GC,2634,1.72,130.1,24.0,9.7,228,2640,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,1993,2672
$GC,2836,1.74,144.5,7.8,8.0,255,2855,0.00,2.58,10.88,0.670,4,0.000,0.054,3272,3389,2612
$GC,2987,1.94,303.2,3.8,-0.8,278,3069,0.22,2.42,73.95,0.601,6,0.051,0.035,3327,1996,1964
$STATE,3079,end climb,SURFACE_DEPTH_REACHED
$STATE,3079,begin surface coast
$FINISH,0.5,1.021895
$STATE,3155,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3180,66.47,0.585,0,0,1366,450.13
$SM_GC,1.45,0.00,0.00,66.47,0.000,0.000,0.585,408,2103,1366,-11.46,0.08,450.13
$IRIDIUM_FIX,4722.92,-12251.79,240907,171727
$TT8_MAMPS,0.071331
$HUMID,2248
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.7
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.8,21.735
$10V_AH,10.1,13.811
$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,30.300,45.200,260.375,66.475,0.000,61.382,38.188,291.215,0.500,0.000,4186.000,30.943,542.407,1777.367,455.204,557.964,537.535,33.339,782.749,0.000,516.799,0.000,4.102
$DEVICE_MAMPS,191.750,74.399,806.117,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,213.818,0.000,0.000,0.000,0.000,0.000,0.000,4186.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9601,304
$CFSIZE,260231168,255463424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,154735,4738.926,-12252.332,10,3.4,29,18.3