version: 66.02
glider: 117
mission: 4
dive: 210
start: 9 30 107 17 32 30
data:
$ID,117
$MISSION,4
$DIVE,210
$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,-21540.744
$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,38
$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,0
$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
$GPS1,172122,4739.514,-12252.270,14,3.0,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.1
$GPS2,173121,4739.634,-12252.033,15,1.4,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,-0.125
$KALMAN_X,27597.1,121.6,-60.3,-26839.2,243.7
$KALMAN_Y,13365.5,119.1,-8.0,-13769.9,200.5
$MHEAD_RNG_PITCHd_Wd,214.7,554,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,102,0.00,0.00,-79.20,0.000,2,0.000,0.000,413,2209,2757
$GC,105,-1.68,-97.8,2.1,-3.8,13,160,13.30,0.00,-34.35,0.000,6,0.197,0.000,2527,2210,3603
$GC,225,-1.68,-97.8,9.9,-9.7,32,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2210,3605
$GC,298,-1.68,-97.8,15.7,-8.8,43,304,0.00,2.50,0.00,0.000,4,0.000,0.059,2527,3590,3604
$GC,343,-1.68,-97.8,20.3,-10.5,50,350,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2190,3605
$GC,538,-1.68,-97.8,39.5,-10.2,66,543,0.00,2.58,0.00,0.000,4,0.000,0.064,2527,803,3605
$GC,611,-1.68,-97.8,47.2,-10.6,71,615,0.00,2.42,0.00,0.000,6,0.000,0.036,2527,2193,3605
$GC,806,-1.68,-97.8,67.0,-9.8,86,810,0.00,2.53,0.00,0.000,4,0.000,0.059,2527,3597,3605
$GC,860,-1.68,-97.8,72.7,-11.2,90,864,0.00,2.42,0.00,0.000,6,0.000,0.036,2527,2193,3605
$GC,1055,-1.68,-97.8,91.4,-9.0,105,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2193,3605
$GC,1244,-1.68,-97.8,108.7,-9.3,120,1248,0.00,2.53,0.00,0.000,4,0.000,0.057,2527,3598,3604
$GC,1275,-1.68,-97.8,111.9,-10.8,122,1283,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2207,3605
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1375,-0.38,0.0,121.1,9.9,130,1457,1.48,0.00,78.15,0.693,6,0.108,0.000,2813,2068,3202
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1460,1.68,97.8,123.8,0.0,137,1545,2.15,2.62,76.62,0.673,4,0.064,0.054,3268,3484,2803
$GC,1577,1.74,139.8,119.0,6.3,146,1615,0.00,2.47,32.40,0.670,6,0.000,0.035,3268,2086,2632
$GC,1805,1.74,141.6,98.9,8.8,164,1809,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3481,2630
$GC,1890,1.74,141.6,90.3,10.7,170,1894,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2075,2629
$GC,2085,1.74,141.6,71.8,9.1,185,2089,0.00,2.55,0.00,0.000,4,0.000,0.054,3268,3482,2629
$GC,2203,1.74,141.6,59.6,10.6,193,2210,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2078,2629
$GC,2399,1.74,141.6,40.8,9.1,209,2403,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3476,2629
$GC,2490,1.74,141.6,31.7,10.2,215,2497,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2081,2629
$GC,2690,1.74,141.6,12.0,9.3,237,2696,0.00,2.62,0.00,0.000,4,0.000,0.067,3268,680,2628
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,2.9,1.022548
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2806,174.50,0.588,0,0,1162,500.17
$SM_GC,0.99,0.00,0.00,174.50,0.000,0.000,0.588,411,2202,1162,-11.45,0.06,500.17
$IRIDIUM_FIX,4722.92,-12247.38,300907,212121
$TT8_MAMPS,0.028379
$HUMID,2149
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.7,34.854
$10V_AH,10.2,21.782
$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,30.425,45.425,187.175,174.500,0.000,104.439,72.525,211.867,0.500,0.000,0.000,15.014,471.653,1673.991,492.429,463.749,511.983,33.354,786.761,0.000,456.935,0.000,2.491
$DEVICE_MAMPS,197.119,67.496,693.368,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6458,251
$CFSIZE,260231168,251129856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,182257,4739.523,-12252.165,11,1.3,11,18.3