version: 66.02
glider: 117
mission: 4
dive: 214
start: 9 30 107 21 44 34
data:
$ID,117
$MISSION,4
$DIVE,214
$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,-21618.521
$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,24
$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,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
$GPS1,212857,4739.493,-12252.251,34,2.0,34,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.6
$GPS2,214327,4739.630,-12252.054,10,1.0,10,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,-0.111
$KALMAN_X,29034.4,172.6,306.4,-28715.9,191.2
$KALMAN_Y,14257.6,101.2,166.2,-14822.5,99.5
$MHEAD_RNG_PITCHd_Wd,219.7,529,-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,-97.8,0.0,0.0,0,109,0.00,0.00,-85.03,0.000,2,0.000,0.000,404,2215,2850
$GC,112,-1.68,-97.8,2.1,-4.3,14,160,13.32,0.00,-30.38,0.000,6,0.197,0.000,2524,2215,3601
$GC,226,-1.68,-97.8,8.5,-8.5,32,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2215,3604
$GC,298,-1.68,-97.8,15.0,-9.1,43,305,0.00,2.65,0.00,0.000,4,0.000,0.064,2524,796,3604
$GC,356,-1.68,-97.8,21.2,-11.1,51,363,0.00,2.47,0.00,0.000,6,0.000,0.036,2524,2189,3604
$GC,552,-1.68,-97.8,39.7,-9.2,67,557,0.00,2.55,0.00,0.000,4,0.000,0.059,2523,3599,3604
$GC,598,-1.68,-97.8,44.1,-9.4,70,602,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2192,3604
$GC,800,-1.68,-97.8,62.7,-9.3,86,804,0.00,2.58,0.00,0.000,4,0.000,0.065,2524,802,3604
$GC,826,-1.68,-97.8,65.2,-9.8,88,830,0.00,2.45,0.00,0.000,6,0.000,0.036,2524,2205,3604
$GC,1028,-1.68,-97.8,85.0,-10.0,104,1032,0.00,2.53,0.00,0.000,4,0.000,0.059,2523,3603,3604
$GC,1067,-1.68,-97.8,89.2,-10.7,106,1073,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2193,3604
$GC,1262,-1.68,-97.8,108.3,-9.6,122,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,3604
$STATE,1386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1386,begin apogee
$GC,1392,-0.38,0.0,121.1,10.1,132,1474,1.50,0.00,78.07,0.697,6,0.107,0.000,2814,2067,3202
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1478,1.68,97.8,124.2,0.0,139,1560,2.12,0.00,77.32,0.676,6,0.062,0.000,3267,2068,2803
$GC,1747,1.72,123.9,109.5,7.3,161,1772,0.00,2.65,19.60,0.693,4,0.000,0.054,3267,3476,2697
$GC,1858,1.72,123.9,100.0,9.2,169,1864,0.00,2.42,0.00,0.000,6,0.000,0.036,3267,2088,2696
$GC,2053,1.73,132.1,82.8,8.4,185,2066,0.00,2.55,6.35,0.731,4,0.000,0.054,3267,3484,2662
$GC,2111,1.73,132.1,77.4,9.2,189,2118,0.00,2.47,0.00,0.000,6,0.000,0.035,3267,2080,2662
$GC,2308,1.73,134.7,59.6,8.7,205,2314,0.00,2.60,1.70,0.814,4,0.000,0.054,3267,3483,2652
$GC,2359,1.73,136.2,54.9,8.8,208,2366,0.00,2.47,0.00,0.000,6,0.000,0.035,3267,2079,2652
$GC,2556,1.74,144.7,38.1,8.4,224,2568,0.00,0.00,7.45,0.712,6,0.000,0.000,3267,2079,2612
$GC,2757,1.74,144.7,19.1,9.5,240,2763,0.00,2.53,0.00,0.000,4,0.000,0.054,3267,3476,2611
$GC,2829,1.74,144.7,12.5,9.1,251,2835,0.00,2.42,0.00,0.000,6,0.000,0.035,3267,2078,2611
$GC,2901,1.74,144.7,5.6,9.6,262,2907,0.00,2.62,0.00,0.000,4,0.000,0.067,3267,677,2610
$STATE,2911,end climb,SURFACE_DEPTH_REACHED
$STATE,2911,begin surface coast
$FINISH,0.6,1.022645
$STATE,2973,end surface coast,CONTROL_FINISHED_OK
$STATE,2973,begin surface
$SM_CCo,2997,171.25,0.588,0,0,1162,500.17
$SM_GC,0.89,0.00,0.00,171.25,0.000,0.000,0.588,413,2202,1162,-11.44,0.06,500.17
$IRIDIUM_FIX,4722.92,-12249.11,011007,010156
$TT8_MAMPS,0.028379
$HUMID,2151
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.7,35.193
$10V_AH,10.2,21.882
$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,29.850,45.700,190.500,171.250,0.000,138.809,309.076,155.099,1.000,0.000,0.000,11.868,504.267,1865.374,511.463,461.631,727.033,33.358,805.295,0.000,460.280,0.000,2.491
$DEVICE_MAMPS,197.119,67.496,813.787,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6452,273
$CFSIZE,260231168,251027456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,223829,4739.499,-12252.435,11,8.3,30,18.3