version: 66.02
glider: 117
mission: 4
dive: 66
start: 9 24 107 18 1 53
data:
$ID,117
$MISSION,4
$DIVE,66
$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,-17990.074
$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,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
$GPS1,175123,4738.739,-12252.513,13,2.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.5
$GPS2,180047,4738.782,-12252.396,11,2.7,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.067
$KALMAN_X,17759.3,561.8,326.8,-18275.8,39.5
$KALMAN_Y,10177.7,418.1,292.4,-12753.0,-46.2
$MHEAD_RNG_PITCHd_Wd,232.9,1108,-20.3,-8.889
$D_GRID,129
$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,-43.22,0.000,2,0.000,0.000,411,2110,2352
$GC,73,-1.68,-97.8,2.3,-4.2,7,140,13.12,2.67,-45.25,0.000,4,0.193,0.074,2524,702,3603
$GC,186,-1.68,-97.8,8.0,-8.3,25,193,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2099,3604
$GC,258,-1.68,-97.8,14.7,-9.9,36,265,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3503,3605
$GC,342,-1.68,-97.8,23.2,-10.9,47,350,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2102,3605
$GC,539,-1.68,-97.8,42.8,-10.7,63,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2102,3605
$GC,731,-1.68,-97.8,62.7,-10.5,78,735,0.00,2.53,0.00,0.000,4,0.000,0.054,2524,3502,3605
$GC,789,-1.68,-97.8,69.1,-10.2,82,793,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2098,3605
$GC,991,-1.68,-97.8,90.4,-10.8,98,995,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3502,3605
$GC,1022,-1.68,-97.8,94.0,-11.7,100,1030,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2103,3605
$GC,1219,-1.68,-97.8,114.1,-10.0,116,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2102,3606
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1286,-0.38,0.0,120.4,9.7,121,1368,1.48,0.00,77.70,0.679,6,0.105,0.000,2812,1996,3202
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1371,1.68,97.8,122.9,0.0,128,1456,2.10,2.70,75.57,0.657,4,0.064,0.068,3271,601,2804
$GC,1528,1.72,123.2,115.1,7.3,140,1552,0.00,2.50,19.27,0.673,6,0.000,0.036,3271,1996,2698
$GC,1742,1.72,123.3,96.5,8.9,157,1746,0.00,2.55,0.00,0.000,4,0.000,0.056,3271,3402,2696
$GC,1874,1.72,123.3,84.9,9.4,166,1880,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,2001,2697
$GC,2069,1.72,129.4,68.4,8.5,182,2082,0.00,2.58,4.40,0.736,4,0.000,0.052,3270,3389,2673
$GC,2121,1.72,129.4,63.6,9.2,186,2125,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2000,2673
$GC,2323,1.72,129.4,45.5,9.0,202,2327,0.00,2.53,0.00,0.000,4,0.000,0.053,3271,3398,2673
$GC,2402,1.72,129.4,38.1,9.1,208,2406,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,1997,2673
$GC,2604,1.74,143.7,19.9,8.0,224,2623,0.00,2.58,10.48,0.681,4,0.000,0.053,3271,3389,2616
$GC,2662,1.74,143.7,14.9,9.1,233,2668,0.00,2.45,0.00,0.000,6,0.000,0.036,3270,1993,2615
$GC,2735,1.74,143.7,8.1,9.8,244,2741,0.00,2.55,0.00,0.000,4,0.000,0.053,3271,3400,2615
$GC,2773,1.74,145.5,4.4,8.8,250,2780,0.00,2.45,0.00,0.000,6,0.000,0.036,3272,1999,2615
$GC,2845,1.99,349.0,3.9,-3.5,261,2945,0.28,0.00,95.12,0.599,2,0.048,0.000,3340,1999,1922
$STATE,2946,end climb,SURFACE_DEPTH_REACHED
$STATE,2946,begin surface coast
$FINISH,0.5,1.021531
$STATE,2971,end surface coast,CONTROL_FINISHED_OK
$STATE,2971,begin surface
$SM_CCo,2997,62.92,0.581,0,0,1367,450.13
$SM_GC,1.19,0.00,0.00,62.92,0.000,0.000,0.581,408,2113,1367,-11.46,0.34,450.13
$IRIDIUM_FIX,4719.74,-12251.79,240907,202009
$TT8_MAMPS,0.070564
$HUMID,2225
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,8.6
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.8,21.993
$10V_AH,10.1,14.045
$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,30.350,50.525,282.550,62.925,0.000,62.472,36.835,255.012,0.750,0.000,3761.000,31.750,508.185,1661.020,443.061,536.380,502.672,33.349,769.868,0.000,493.782,0.000,4.102
$DEVICE_MAMPS,193.284,74.399,735.553,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.130,0.000,0.000,0.000,0.000,0.000,0.000,3761.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9549,281
$CFSIZE,260231168,255369216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,185359,4738.667,-12252.801,12,3.3,31,18.3