version: 66.02
glider: 117
mission: 4
dive: 351
start: 10 6 107 21 21 21
data:
$ID,117
$MISSION,4
$DIVE,351
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,40
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$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,25
$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,-25169.59
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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
$GPS1,210535,4745.167,-12249.817,9,2.7,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-53.8
$GPS2,212021,4745.417,-12249.701,13,1.0,13,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.060,-0.192
$KALMAN_X,38108.6,151.1,89.9,-34615.7,98.0
$KALMAN_Y,22655.5,296.9,178.0,-12717.1,264.7
$MHEAD_RNG_PITCHd_Wd,179.0,629,-18.4,-7.917
$D_GRID,173
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.54,-97.8,0.0,0.0,0,120,0.00,0.00,-90.15,0.000,2,0.000,0.000,411,2204,3258
$GC,126,-1.54,-97.8,2.1,-3.6,15,157,13.55,2.58,-8.60,0.000,4,0.199,0.071,2557,3588,3603
$GC,199,-1.54,-97.8,10.4,-6.6,26,205,0.00,2.40,0.00,0.000,6,0.000,0.035,2557,2198,3604
$GC,272,-1.54,-97.8,16.4,-8.9,37,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2198,3605
$GC,349,-1.54,-97.8,23.4,-8.9,46,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2198,3605
$GC,540,-1.54,-97.8,40.5,-9.1,61,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2198,3605
$GC,731,-1.54,-97.8,57.9,-9.2,76,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2198,3605
$GC,918,-1.54,-97.8,74.8,-9.2,91,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2198,3605
$GC,1107,-1.54,-97.8,91.8,-9.1,106,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2198,3606
$STATE,1140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1140,begin apogee
$GC,1148,-0.38,0.0,95.2,8.9,109,1229,1.27,0.00,77.68,0.676,6,0.105,0.000,2809,2139,3202
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1233,1.54,97.8,97.7,0.0,116,1315,1.98,0.00,76.38,0.654,6,0.065,0.000,3233,2139,2803
$GC,1502,1.56,118.6,83.8,6.8,138,1527,0.00,2.62,15.62,0.682,4,0.000,0.055,3232,3533,2717
$GC,1585,1.57,122.0,77.4,7.7,144,1593,0.00,2.40,2.33,0.770,6,0.000,0.036,3233,2162,2704
$GC,1782,1.58,129.6,62.2,7.5,160,1795,0.00,2.53,5.90,0.716,4,0.000,0.056,3233,3542,2673
$GC,1848,1.58,129.6,56.5,8.7,165,1852,0.00,2.45,0.00,0.000,6,0.000,0.037,3233,2144,2672
$GC,2043,1.58,129.6,40.8,7.9,180,2048,0.00,2.55,0.00,0.000,4,0.000,0.055,3233,3550,2672
$GC,2076,1.58,129.6,38.0,8.4,182,2081,0.00,2.42,0.00,0.000,6,0.000,0.036,3233,2148,2671
$GC,2272,1.58,132.1,22.1,7.8,197,2279,0.00,2.60,1.55,0.805,4,0.000,0.055,3233,3542,2663
$GC,2319,1.58,132.1,18.1,8.8,201,2325,0.00,2.42,0.00,0.000,6,0.000,0.036,3233,2150,2663
$GC,2392,1.59,139.0,12.2,7.5,212,2403,0.00,0.00,5.10,0.722,6,0.000,0.000,3233,2149,2635
$GC,2469,1.59,139.0,5.3,8.7,224,2475,0.00,2.55,0.00,0.000,4,0.000,0.057,3233,3547,2635
$STATE,2479,end climb,SURFACE_DEPTH_REACHED
$STATE,2479,begin surface coast
$FINISH,0.8,1.022759
$STATE,2542,end surface coast,CONTROL_FINISHED_OK
$STATE,2543,begin surface
$SM_CCo,2572,141.20,0.584,0,0,1367,450.13
$SM_GC,0.40,0.00,0.00,141.20,0.000,0.000,0.584,411,2182,1367,-11.45,-0.51,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,010138
$TT8_MAMPS,0.071331
$HUMID,2162
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.5,48.404
$10V_AH,10.1,32.135
$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,29.650,29.950,184.550,141.200,0.000,96.649,91.615,411.700,0.500,0.000,3728.000,15.524,439.768,1524.138,444.106,414.335,797.193,33.350,696.473,0.000,387.372,0.000,2.489
$DEVICE_MAMPS,198.653,108.147,804.583,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.629,0.000,0.000,0.000,0.000,0.000,0.000,3728.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,235
$CFSIZE,260231168,246579200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,220737,4745.284,-12249.697,9,1.4,25,18.3