version: 66.02
glider: 117
mission: 4
dive: 111
start: 9 26 107 16 30 48
data:
$ID,117
$MISSION,4
$DIVE,111
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19113.512
$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,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,43
$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
$GPS1,162227,4739.444,-12253.262,11,1.9,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.7
$GPS2,162941,4739.436,-12253.253,12,2.1,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.003
$KALMAN_X,22363.7,43.7,32.7,-23134.0,109.3
$KALMAN_Y,10714.5,74.5,58.6,-11501.1,44.0
$MHEAD_RNG_PITCHd_Wd,72.6,1064,-20.3,-8.889
$D_GRID,118
$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,-97.8,0.0,0.0,0,112,0.00,0.00,-85.18,0.000,2,0.000,0.000,408,2209,2536
$GC,114,-1.68,-97.8,2.2,-3.3,14,176,13.48,2.62,-40.25,0.000,4,0.202,0.072,2531,801,3601
$GC,195,-1.68,-97.8,7.0,-11.6,27,202,0.00,2.42,0.00,0.000,6,0.000,0.035,2531,2191,3603
$GC,267,-1.68,-97.8,15.1,-10.6,38,274,0.00,2.58,0.00,0.000,4,0.000,0.060,2531,796,3604
$GC,338,-1.68,-97.8,22.5,-10.0,47,345,0.00,2.50,0.00,0.000,6,0.000,0.034,2531,2203,3603
$GC,534,-1.68,-97.8,39.9,-9.1,63,538,0.00,2.53,0.00,0.000,4,0.000,0.058,2531,3603,3605
$GC,613,-1.68,-97.8,47.8,-10.1,69,617,0.00,2.42,0.00,0.000,6,0.000,0.035,2531,2192,3605
$GC,815,-1.68,-97.8,67.9,-10.0,85,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2192,3605
$GC,1006,-1.68,-97.8,86.2,-9.9,100,1010,0.00,2.55,0.00,0.000,4,0.000,0.057,2531,3603,3605
$GC,1070,-1.68,-97.8,93.3,-10.6,104,1077,0.00,2.45,0.00,0.000,6,0.000,0.035,2531,2196,3605
$GC,1266,-1.68,-97.8,112.9,-9.5,120,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2196,3605
$STATE,1327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1327,begin apogee
$GC,1333,-0.38,0.0,119.2,10.3,125,1414,1.45,0.00,74.78,0.677,6,0.107,0.000,2813,2070,3202
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1417,1.68,97.8,122.0,0.0,132,1499,2.15,0.00,75.82,0.658,6,0.061,0.000,3270,2071,2803
$GC,1688,1.71,119.2,107.3,7.6,154,1711,0.00,0.00,16.67,0.675,6,0.000,0.000,3270,2071,2716
$GC,1900,1.73,132.0,90.3,8.1,171,1916,0.00,2.60,9.70,0.695,4,0.000,0.054,3270,3469,2663
$GC,2070,1.73,132.0,75.0,9.0,184,2074,0.00,2.40,0.00,0.000,6,0.000,0.036,3270,2088,2664
$GC,2272,1.73,132.0,56.5,9.4,200,2276,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,3475,2664
$GC,2351,1.73,132.0,48.8,9.9,206,2355,0.00,2.42,0.00,0.000,6,0.000,0.036,3270,2078,2664
$GC,2553,1.73,133.7,30.3,8.8,222,2558,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,3475,2664
$GC,2731,1.73,134.6,14.1,8.8,239,2739,0.00,2.42,1.73,0.788,6,0.000,0.035,3270,2076,2653
$GC,2806,1.79,187.9,9.4,5.6,250,2854,0.00,2.67,40.97,0.622,4,0.000,0.067,3270,679,2435
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.7,1.021664
$STATE,2972,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,3001,119.53,0.582,0,0,1366,450.13
$SM_GC,1.37,0.00,0.00,119.53,0.000,0.000,0.582,410,2204,1366,-11.45,0.11,450.13
$IRIDIUM_FIX,4722.92,-12253.53,260907,191949
$TT8_MAMPS,0.072865
$HUMID,2220
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,93.3,999.0
$24V_AH,23.8,26.795
$10V_AH,10.1,17.563
$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,30.425,40.500,219.675,119.525,0.000,60.935,36.592,146.106,0.250,4.150,3877.850,32.423,497.482,1715.111,480.249,522.471,369.047,33.344,782.361,0.000,483.192,0.000,2.491
$DEVICE_MAMPS,201.721,72.098,787.709,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.844,0.000,0.000,0.000,0.000,0.000,0.000,3882.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,276
$CFSIZE,260231168,253882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,172353,4739.462,-12252.754,10,6.1,29,18.3