version: 66.02
glider: 117
mission: 4
dive: 143
start: 9 28 107 0 15 47
data:
$ID,117
$MISSION,4
$DIVE,143
$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,500
$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,-19925.441
$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,23
$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
$GPS1,000407,4739.484,-12253.199,34,2.0,34,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.9
$GPS2,001438,4739.460,-12253.260,15,1.8,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,0.082
$KALMAN_X,21196.5,-75.1,-168.9,-21654.1,-40.3
$KALMAN_Y,8039.3,-88.6,-206.9,-8353.1,-213.9
$MHEAD_RNG_PITCHd_Wd,48.6,1071,-20.3,-8.889
$D_GRID,119
$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,-97.8,0.0,0.0,0,118,0.00,0.00,-91.10,0.000,2,0.000,0.000,409,2198,2614
$GC,122,-1.68,-97.8,2.4,-4.6,15,176,13.38,0.00,-34.60,0.000,6,0.199,0.000,2525,2199,3602
$GC,242,-1.68,-97.8,11.6,-10.2,34,248,0.00,2.60,0.00,0.000,4,0.000,0.062,2526,797,3604
$GC,281,-1.68,-97.8,15.4,-10.0,40,287,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2199,3604
$GC,352,-1.68,-97.8,21.6,-8.8,50,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3604
$GC,544,-1.68,-97.8,39.6,-9.9,65,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3605
$GC,732,-1.68,-97.8,58.3,-9.6,80,736,0.00,2.53,0.00,0.000,4,0.000,0.058,2526,3601,3604
$GC,783,-1.68,-97.8,63.7,-9.8,83,790,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2195,3605
$GC,979,-1.68,-97.8,83.4,-10.0,99,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$GC,1170,-1.68,-97.8,102.7,-9.9,114,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3605
$STATE,1345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1345,begin apogee
$GC,1350,-0.38,0.0,119.7,9.4,128,1430,1.48,0.00,73.60,0.676,6,0.107,0.000,2812,2068,3202
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1434,1.68,97.8,122.4,0.0,135,1520,2.10,2.65,76.78,0.657,4,0.063,0.064,3271,683,2803
$GC,1591,1.69,99.3,113.8,8.8,147,1599,0.00,2.50,0.85,0.828,6,0.000,0.035,3271,2080,2797
$GC,1787,1.72,123.1,98.1,7.4,163,1812,0.00,2.58,18.15,0.669,4,0.000,0.058,3271,3474,2700
$GC,1984,1.72,123.1,78.6,10.3,178,1988,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2078,2702
$GC,2179,1.72,125.5,60.3,8.7,193,2186,0.00,2.53,1.52,0.793,4,0.000,0.054,3271,3476,2690
$GC,2243,1.72,125.5,54.0,9.8,197,2251,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2084,2692
$GC,2440,1.72,125.5,36.2,9.5,213,2444,0.00,2.53,0.00,0.000,4,0.000,0.055,3271,3476,2692
$GC,2498,1.72,125.5,30.6,9.2,217,2505,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2081,2692
$GC,2698,1.74,145.9,13.0,7.6,239,2723,0.00,2.60,15.60,0.653,4,0.000,0.054,3271,3470,2607
$GC,2770,1.76,158.6,7.3,8.1,250,2789,0.00,2.42,9.68,0.669,6,0.000,0.035,3271,2079,2555
$STATE,2806,end climb,SURFACE_DEPTH_REACHED
$STATE,2806,begin surface coast
$FINISH,2.9,1.021024
$STATE,2900,end surface coast,CONTROL_FINISHED_OK
$STATE,2900,begin surface
$SM_CCo,2927,158.12,0.580,0,0,1163,500.17
$SM_GC,1.20,0.00,0.00,158.12,0.000,0.000,0.580,412,2217,1163,-11.44,0.48,500.17
$IRIDIUM_FIX,4722.92,-12253.53,280907,040432
$TT8_MAMPS,0.072865
$HUMID,2205
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.1,999.0
$24V_AH,23.7,29.607
$10V_AH,10.1,19.942
$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,30.600,35.525,196.175,158.125,0.000,96.334,78.067,214.797,0.750,0.000,4045.000,15.941,490.006,1737.527,495.220,498.619,526.084,33.343,795.555,0.000,471.625,0.000,2.491
$DEVICE_MAMPS,198.653,64.428,828.360,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.945,0.000,0.000,0.000,0.000,0.000,0.000,4045.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,270
$CFSIZE,260231168,252874752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,010802,4739.505,-12252.905,10,1.5,15,18.3