version: 66.02
glider: 117
mission: 4
dive: 211
start: 9 30 107 18 30 41
data:
$ID,117
$MISSION,4
$DIVE,211
$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,-21573.588
$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,30
$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
$GPS1,182257,4739.523,-12252.165,11,1.3,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.3
$GPS2,182935,4739.591,-12252.024,12,6.4,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.111
$KALMAN_X,27987.7,101.3,14.0,-27268.7,337.8
$KALMAN_Y,13596.6,99.0,39.1,-14102.9,232.2
$MHEAD_RNG_PITCHd_Wd,219.5,524,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,104,0.00,0.00,-79.32,0.000,2,0.000,0.000,411,2203,2767
$GC,107,-1.68,-97.8,2.1,-4.0,13,162,13.38,2.58,-33.03,0.000,4,0.199,0.070,2526,3597,3602
$GC,188,-1.68,-97.8,7.0,-11.0,26,194,0.00,2.42,0.00,0.000,6,0.000,0.035,2527,2195,3603
$GC,260,-1.68,-97.8,13.2,-8.8,37,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2195,3604
$GC,332,-1.68,-97.8,19.8,-8.9,48,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2195,3604
$GC,401,-1.68,-97.8,26.4,-9.6,54,405,0.00,2.60,0.00,0.000,4,0.000,0.064,2526,797,3604
$GC,439,-1.68,-97.8,30.4,-10.1,56,446,0.00,2.50,0.00,0.000,6,0.000,0.035,2526,2204,3604
$GC,635,-1.68,-97.8,49.4,-9.9,72,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2204,3604
$GC,828,-1.68,-97.8,68.1,-10.0,87,832,0.00,2.53,0.00,0.000,4,0.000,0.059,2526,3604,3604
$GC,892,-1.68,-97.8,75.0,-10.3,91,900,0.00,2.45,0.00,0.000,6,0.000,0.035,2526,2201,3604
$GC,1089,-1.68,-97.8,92.9,-8.8,107,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,3604
$GC,1278,-1.68,-97.8,109.7,-8.9,122,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,3604
$STATE,1389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1389,begin apogee
$GC,1395,-0.38,0.0,120.1,9.2,131,1478,1.48,0.00,78.28,0.693,6,0.108,0.000,2812,2075,3202
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1479,begin climb
$GC,1481,1.68,97.8,122.3,0.0,138,1563,2.15,0.00,77.22,0.670,6,0.064,0.000,3267,2075,2803
$GC,1750,1.70,108.2,105.2,8.2,160,1763,0.00,2.62,7.70,0.719,4,0.000,0.054,3267,3477,2760
$GC,1830,1.70,108.2,97.6,9.6,166,1835,0.00,2.42,0.00,0.000,6,0.000,0.035,3267,2089,2759
$GC,2025,1.70,108.2,78.8,9.9,181,2029,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3480,2759
$GC,2124,1.70,108.2,68.5,10.6,188,2128,0.00,2.42,0.00,0.000,6,0.000,0.036,3267,2078,2759
$GC,2319,1.70,111.5,50.8,8.7,203,2326,0.00,2.60,2.08,0.798,4,0.000,0.053,3267,3482,2747
$GC,2458,1.70,111.5,37.7,9.0,213,2462,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2072,2747
$GC,2660,1.72,123.9,20.9,8.1,229,2679,0.00,2.62,9.30,0.692,4,0.000,0.053,3267,3479,2696
$GC,2705,1.72,123.9,16.8,9.6,235,2711,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2073,2696
$GC,2777,1.72,126.7,10.6,8.7,246,2784,0.00,2.67,1.90,0.785,4,0.000,0.067,3267,681,2685
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,0.4,1.022484
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$SM_CCo,2900,170.93,0.582,0,0,1162,500.17
$SM_GC,1.06,0.00,0.00,170.93,0.000,0.000,0.582,409,2209,1162,-11.45,0.25,500.17
$IRIDIUM_FIX,4722.92,-12246.42,300907,212157
$TT8_MAMPS,0.028379
$HUMID,2147
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.7,34.929
$10V_AH,10.2,21.805
$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,29.875,40.775,176.475,170.925,0.000,63.786,35.152,138.901,0.500,0.000,0.000,32.214,489.091,1692.746,490.307,475.937,350.574,33.359,773.590,0.000,450.933,0.000,2.493
$DEVICE_MAMPS,199.420,69.797,797.680,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6480,261
$CFSIZE,260231168,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,192256,4739.484,-12252.201,12,1.4,29,18.3