version: 66.02
glider: 117
mission: 4
dive: 113
start: 9 26 107 18 25 14
data:
$ID,117
$MISSION,4
$DIVE,113
$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,-19158.082
$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,27
$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,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
$GPS1,181653,4739.476,-12252.423,10,3.3,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.0
$GPS2,182407,4739.485,-12252.427,14,1.4,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.012
$KALMAN_X,22301.1,76.8,135.6,-22176.0,-6.3
$KALMAN_Y,10735.2,95.2,111.8,-11506.1,14.3
$MHEAD_RNG_PITCHd_Wd,248.3,968,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,69,0.00,0.00,-43.17,0.000,2,0.000,0.000,410,2217,2332
$GC,72,-1.68,-97.8,2.0,-2.5,7,153,13.32,2.67,-56.38,0.000,4,0.198,0.071,2527,797,3603
$GC,245,-1.68,-97.8,14.5,-10.6,34,251,0.00,2.45,0.00,0.000,6,0.000,0.035,2529,2197,3604
$GC,316,-1.68,-97.8,21.4,-9.2,44,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,3604
$GC,507,-1.68,-97.8,40.0,-10.2,59,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,3605
$GC,696,-1.68,-97.8,59.2,-10.6,74,700,0.00,2.60,0.00,0.000,4,0.000,0.063,2527,796,3605
$GC,741,-1.68,-97.8,64.1,-10.7,77,745,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2202,3605
$GC,943,-1.68,-97.8,84.8,-10.0,93,947,0.00,2.53,0.00,0.000,4,0.000,0.060,2527,3602,3605
$GC,974,-1.68,-97.8,88.3,-11.2,95,982,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2197,3605
$GC,1171,-1.68,-97.8,107.4,-9.6,111,1175,0.00,2.58,0.00,0.000,4,0.000,0.064,2527,803,3605
$GC,1217,-1.68,-97.8,112.1,-10.5,114,1221,0.00,2.45,0.00,0.000,6,0.000,0.036,2527,2206,3605
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1309,-0.38,0.0,120.7,9.7,121,1391,1.48,0.00,77.53,0.680,6,0.106,0.000,2815,2063,3202
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1394,1.68,97.8,123.4,0.0,128,1475,2.15,0.00,75.43,0.667,6,0.061,0.000,3272,2064,2803
$GC,1664,1.71,118.7,107.2,7.6,150,1682,0.00,0.00,15.65,0.682,6,0.000,0.000,3272,2064,2718
$GC,1865,1.72,123.3,89.8,8.6,166,1877,0.00,2.62,3.25,0.751,4,0.000,0.064,3272,694,2698
$GC,1908,1.72,123.3,85.6,9.0,169,1916,0.00,2.45,0.00,0.000,6,0.000,0.035,3272,2073,2698
$GC,2105,1.72,128.5,68.4,8.6,185,2118,0.00,2.58,4.00,0.738,4,0.000,0.057,3272,3466,2677
$GC,2225,1.72,128.5,57.8,9.5,194,2229,0.00,2.40,0.00,0.000,6,0.000,0.035,3272,2086,2677
$GC,2419,1.72,128.5,39.8,9.2,209,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2086,2677
$GC,2610,1.73,132.3,23.3,8.7,224,2615,0.00,0.00,2.58,0.760,6,0.000,0.000,3272,2086,2662
$GC,2805,1.75,153.3,8.2,7.6,250,2830,0.00,2.58,15.85,0.654,4,0.000,0.055,3272,3473,2577
$STATE,2867,end climb,SURFACE_DEPTH_REACHED
$STATE,2867,begin surface coast
$FINISH,3.1,1.009829
$STATE,2921,end surface coast,CONTROL_FINISHED_OK
$STATE,2921,begin surface
$SM_CCo,2950,141.93,0.588,0,0,1367,450.13
$SM_GC,1.43,0.00,0.00,141.93,0.000,0.000,0.588,411,2190,1367,-11.45,-0.28,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,212110
$TT8_MAMPS,0.071331
$HUMID,2196
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,26.955
$10V_AH,10.1,17.705
$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,30.600,35.225,194.275,141.925,0.000,63.733,35.603,145.049,0.500,4.150,3631.850,30.910,496.357,1743.579,458.649,487.031,370.024,33.348,741.369,0.000,449.339,0.000,2.493
$DEVICE_MAMPS,197.886,71.331,760.097,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.347,0.000,0.000,0.000,0.000,0.000,0.000,3636.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6467,268
$CFSIZE,260231168,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,191733,4739.360,-12252.942,13,1.7,13,18.3