version: 66.02
glider: 117
mission: 4
dive: 117
start: 9 26 107 22 31 13
data:
$ID,117
$MISSION,4
$DIVE,117
$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,-19292.236
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,221957,4739.449,-12253.180,13,1.6,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.9
$GPS2,223007,4739.422,-12253.216,14,1.9,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.102
$KALMAN_X,21842.4,-3.4,-64.4,-22423.5,-144.9
$KALMAN_Y,9773.8,-27.6,-124.2,-10302.0,-243.6
$MHEAD_RNG_PITCHd_Wd,42.4,1019,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,76,0.00,0.00,-49.20,0.000,2,0.000,0.000,410,2215,2458
$GC,79,-1.68,-97.8,2.2,-3.2,8,152,13.20,2.55,-51.25,0.000,4,0.195,0.068,2524,3590,3603
$GC,199,-1.68,-97.8,9.2,-12.6,27,206,0.00,2.45,0.00,0.000,6,0.000,0.034,2524,2194,3605
$GC,272,-1.68,-97.8,16.0,-8.4,38,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2194,3605
$GC,342,-1.68,-97.8,22.7,-9.9,47,346,0.00,2.58,0.00,0.000,4,0.000,0.062,2524,804,3605
$GC,401,-1.68,-97.8,28.9,-11.0,51,405,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2196,3606
$GC,603,-1.68,-97.8,49.0,-10.0,67,607,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3597,3606
$GC,688,-1.68,-97.8,58.0,-10.7,73,692,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2196,3606
$GC,890,-1.68,-97.8,78.9,-9.9,89,894,0.00,2.55,0.00,0.000,4,0.000,0.057,2525,3597,3606
$GC,931,-1.68,-97.8,83.3,-10.8,92,935,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2198,3606
$GC,1126,-1.68,-97.8,103.4,-9.7,107,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2197,3606
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1275,begin apogee
$GC,1281,-0.38,0.0,118.6,9.8,119,1363,1.48,0.00,77.97,0.673,6,0.106,0.000,2811,2073,3202
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1366,1.68,97.8,121.3,0.0,126,1451,2.10,2.65,75.93,0.657,4,0.063,0.064,3269,686,2802
$GC,1483,1.72,124.5,116.1,7.3,135,1509,0.00,2.50,20.33,0.665,6,0.000,0.035,3269,2078,2694
$GC,1698,1.74,141.3,98.2,7.9,152,1715,0.00,2.58,12.82,0.682,4,0.000,0.058,3269,3473,2625
$GC,1879,1.74,141.3,80.5,10.0,165,1887,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2091,2623
$GC,2076,1.74,141.3,62.0,9.5,181,2080,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3474,2623
$GC,2155,1.74,141.3,54.0,10.7,187,2159,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2071,2623
$GC,2350,1.74,141.3,35.1,9.7,202,2354,0.00,2.55,0.00,0.000,4,0.000,0.055,3269,3475,2623
$GC,2467,1.74,141.3,23.9,9.6,210,2475,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2083,2622
$GC,2671,1.77,170.8,6.8,7.1,237,2696,0.00,0.00,22.23,0.638,6,0.000,0.000,3269,2082,2505
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,1.5,1.020951
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2829,125.93,0.581,0,0,1367,450.13
$SM_GC,1.36,0.00,0.00,125.93,0.000,0.000,0.581,409,2211,1367,-11.46,0.31,450.13
$IRIDIUM_FIX,4719.74,-12251.79,270907,020215
$TT8_MAMPS,0.072865
$HUMID,2210
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,93.4,999.0
$24V_AH,23.7,27.310
$10V_AH,10.1,18.009
$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,30.300,40.450,209.275,125.925,0.000,103.284,114.307,141.419,0.500,37.360,3647.640,30.256,486.100,1665.215,441.692,519.187,480.782,33.348,744.906,0.000,479.092,0.000,2.490
$DEVICE_MAMPS,194.818,68.263,681.863,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.103,0.000,0.000,0.000,0.000,0.000,0.000,3685.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,257
$CFSIZE,260231168,253689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,232132,4739.492,-12252.898,13,1.8,30,18.3