version: 66.02
glider: 117
mission: 4
dive: 64
start: 9 24 107 15 57 28
data:
$ID,117
$MISSION,4
$DIVE,64
$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,-17912.057
$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,27
$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
$GPS1,154735,4738.926,-12252.332,10,3.4,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.9
$GPS2,155621,4738.990,-12252.196,12,1.4,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,-0.134
$KALMAN_X,17107.3,624.4,281.8,-17396.7,183.6
$KALMAN_Y,9987.7,426.2,228.0,-12123.5,194.1
$MHEAD_RNG_PITCHd_Wd,211.7,1515,-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,-97.8,0.0,0.0,0,70,0.00,0.00,-43.25,0.000,2,0.000,0.000,408,2103,2350
$GC,73,-1.68,-97.8,2.3,-3.9,7,134,13.12,0.00,-45.58,0.000,6,0.193,0.000,2524,2105,3601
$GC,200,-1.68,-97.8,9.1,-7.7,27,206,0.00,2.50,0.00,0.000,4,0.000,0.054,2523,3492,3603
$GC,238,-1.68,-97.8,12.5,-9.4,33,245,0.00,2.40,0.00,0.000,6,0.000,0.034,2524,2098,3604
$GC,310,-1.68,-97.8,19.4,-9.5,44,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2098,3604
$GC,386,-1.68,-97.8,26.8,-9.8,51,390,0.00,2.60,0.00,0.000,4,0.000,0.065,2524,704,3604
$GC,405,-1.68,-97.8,28.8,-10.0,52,409,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2096,3604
$GC,607,-1.68,-97.8,49.0,-9.8,68,611,0.00,2.50,0.00,0.000,4,0.000,0.055,2524,3493,3604
$GC,638,-1.68,-97.8,52.4,-10.7,70,646,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2103,3605
$GC,835,-1.68,-97.8,71.9,-10.1,86,839,0.00,2.50,0.00,0.000,4,0.000,0.054,2524,3499,3605
$GC,887,-1.68,-97.8,77.5,-11.1,90,892,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2098,3605
$GC,1089,-1.68,-97.8,98.7,-10.4,106,1093,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3501,3605
$GC,1128,-1.68,-97.8,103.0,-11.1,109,1132,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2098,3605
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1297,-0.38,0.0,120.1,10.3,122,1378,1.48,0.00,77.20,0.683,6,0.104,0.000,2813,1994,3202
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,1.68,97.8,123.4,0.0,129,1466,2.15,2.72,75.40,0.661,4,0.062,0.067,3268,604,2803
$GC,1529,1.72,124.5,117.9,7.3,141,1554,0.00,2.47,20.12,0.673,6,0.000,0.036,3268,2007,2694
$GC,1742,1.73,135.7,100.2,8.2,158,1755,0.00,2.60,8.40,0.706,4,0.000,0.056,3268,3394,2648
$GC,1905,1.73,135.7,84.9,9.5,170,1913,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2007,2647
$GC,2102,1.73,135.7,67.3,9.1,186,2106,0.00,2.50,0.00,0.000,4,0.000,0.053,3268,3394,2647
$GC,2160,1.73,135.7,61.7,9.5,190,2167,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2008,2646
$GC,2356,1.73,135.7,43.3,9.6,206,2360,0.00,2.50,0.00,0.000,4,0.000,0.053,3268,3392,2647
$GC,2441,1.73,135.7,34.8,9.6,212,2448,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2007,2647
$GC,2639,1.74,140.3,17.0,8.6,230,2645,0.00,0.00,3.05,0.745,6,0.000,0.000,3271,2007,2630
$GC,2711,1.77,163.7,11.5,7.5,241,2734,0.00,0.00,17.88,0.652,6,0.000,0.000,3268,2007,2535
$GC,2801,1.78,172.0,4.0,8.4,254,2812,0.00,0.00,6.22,0.688,6,0.000,0.000,3268,2007,2499
$STATE,2829,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,1.3,1.020225
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2885,130.18,0.585,0,0,1366,450.13
$SM_GC,1.32,0.00,0.00,130.18,0.000,0.000,0.585,413,2108,1366,-11.44,0.23,450.13
$IRIDIUM_FIX,4719.74,-12251.79,240907,181854
$TT8_MAMPS,0.071331
$HUMID,2219
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.1
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.8,21.821
$10V_AH,10.1,13.887
$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,30.300,45.175,208.275,130.175,0.000,64.393,35.120,239.006,0.750,0.000,3608.000,12.115,503.385,1638.273,453.884,492.762,480.568,33.345,758.792,0.000,470.899,0.000,4.120
$DEVICE_MAMPS,192.517,67.496,744.757,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.511,0.000,0.000,0.000,0.000,0.000,0.000,3608.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,263
$CFSIZE,260231168,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,164832,4738.846,-12252.370,10,1.9,15,18.3