version: 66.02
glider: 117
mission: 4
dive: 91
start: 9 25 107 20 32 46
data:
$ID,117
$MISSION,4
$DIVE,91
$D_SURF,5
$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,-18608.791
$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,24
$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,0
$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
$GPS1,201837,4739.373,-12252.640,10,1.7,26,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.2
$GPS2,203139,4739.325,-12252.740,12,1.8,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,0.138
$KALMAN_X,21878.0,96.9,140.7,-22165.7,-275.5
$KALMAN_Y,11890.6,-9.1,95.1,-12834.8,-281.6
$MHEAD_RNG_PITCHd_Wd,30.2,498,-20.3,-8.889
$D_GRID,124
$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,-97.8,0.0,0.0,0,106,0.00,0.00,-79.12,0.000,2,0.000,0.000,410,2085,2443
$GC,109,-1.68,-97.8,2.1,-3.0,13,183,13.25,2.58,-51.40,0.000,4,0.193,0.066,2526,3500,3602
$GC,210,-1.68,-97.8,6.1,-10.1,29,216,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2095,3603
$GC,282,-1.68,-97.8,13.5,-9.9,40,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3604
$GC,354,-1.68,-97.8,20.3,-8.9,51,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3604
$GC,544,-1.68,-97.8,38.4,-10.1,66,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2095,3605
$GC,735,-1.68,-97.8,56.9,-9.7,81,739,0.00,2.55,0.00,0.000,4,0.000,0.054,2526,3505,3605
$GC,785,-1.68,-97.8,62.4,-10.3,84,793,0.00,2.47,0.00,0.000,6,0.000,0.035,2526,2102,3605
$GC,982,-1.68,-97.8,81.6,-9.9,100,986,0.00,2.60,0.00,0.000,4,0.000,0.054,2526,3505,3605
$GC,1074,-1.68,-97.8,91.4,-10.5,107,1078,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2100,3605
$GC,1276,-1.68,-97.8,112.0,-10.3,123,1280,0.00,2.65,0.00,0.000,4,0.000,0.069,2526,700,3605
$GC,1314,-1.68,-97.8,116.3,-11.5,125,1322,0.00,2.50,0.00,0.000,6,0.000,0.037,2526,2099,3605
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1363,-0.38,0.0,121.1,11.1,129,1444,1.48,0.00,74.43,0.673,6,0.104,0.000,2813,1994,3202
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1447,1.68,97.8,124.0,0.0,136,1532,2.08,0.00,76.60,0.656,6,0.061,0.000,3269,1994,2803
$GC,1721,1.72,126.8,109.5,7.1,158,1745,0.00,0.00,22.02,0.668,6,0.000,0.000,3269,1994,2685
$GC,1934,1.72,126.8,90.4,9.0,175,1938,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3399,2686
$GC,2026,1.72,127.0,81.8,8.9,182,2031,0.00,2.45,0.00,0.000,6,0.000,0.037,3269,2002,2686
$GC,2221,1.72,127.0,63.9,9.0,197,2225,0.00,2.53,0.00,0.000,4,0.000,0.052,3269,3395,2686
$GC,2398,1.73,137.4,47.7,8.3,210,2411,0.00,2.45,7.82,0.693,6,0.000,0.036,3269,2008,2643
$GC,2601,1.74,140.8,29.6,8.7,226,2605,0.00,0.00,2.22,0.759,6,0.000,0.000,3269,2008,2628
$GC,2800,1.74,140.8,12.4,8.9,247,2806,0.00,2.50,0.00,0.000,4,0.000,0.053,3269,3395,2630
$GC,2838,1.74,140.8,8.9,9.0,253,2845,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,1998,2630
$STATE,2888,end climb,SURFACE_DEPTH_REACHED
$STATE,2889,begin surface coast
$FINISH,2.2,1.020974
$STATE,2969,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,2997,144.05,0.581,0,0,1367,450.13
$SM_GC,1.25,0.00,0.00,144.05,0.000,0.000,0.581,412,2110,1367,-11.44,0.28,450.13
$IRIDIUM_FIX,4722.92,-12254.47,260907,000014
$TT8_MAMPS,0.072865
$HUMID,2225
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.2,24.779
$10V_AH,10.1,16.061
$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,30.450,35.475,183.100,144.050,0.000,99.558,64.412,362.717,0.500,87.150,4045.850,12.815,503.126,1803.433,469.661,504.264,671.412,33.339,772.732,0.000,481.013,0.000,2.491
$DEVICE_MAMPS,192.517,69.030,758.563,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.331,0.000,0.000,0.000,0.000,0.000,0.000,4133.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,273
$CFSIZE,260231168,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,212607,4739.441,-12252.510,10,1.6,26,18.3