version: 66.02
glider: 117
mission: 4
dive: 215
start: 9 30 107 22 46 29
data:
$ID,117
$MISSION,4
$DIVE,215
$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,-21652.27
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,223829,4739.499,-12252.435,11,8.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.7
$GPS2,224523,4739.560,-12252.370,13,5.6,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.057
$KALMAN_X,29091.1,201.5,320.7,-29204.3,73.6
$KALMAN_Y,14422.1,105.6,160.2,-15113.1,77.5
$MHEAD_RNG_PITCHd_Wd,235.8,1052,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.68,-97.8,0.0,0.0,0,111,0.00,0.00,-85.55,0.000,2,0.000,0.000,413,2203,2871
$GC,114,-1.68,-97.8,2.2,-4.3,14,163,13.25,2.65,-26.33,0.000,4,0.197,0.074,2523,804,3602
$GC,184,-1.68,-97.8,6.7,-9.6,25,190,0.00,2.45,0.00,0.000,6,0.000,0.036,2523,2201,3604
$GC,255,-1.68,-97.8,13.3,-10.3,36,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,3604
$GC,327,-1.68,-97.8,21.6,-11.9,46,331,0.00,2.62,0.00,0.000,4,0.000,0.063,2523,792,3604
$GC,359,-1.68,-97.8,25.1,-11.0,48,363,0.00,2.47,0.00,0.000,6,0.000,0.036,2523,2204,3604
$GC,555,-1.68,-97.8,46.7,-11.0,63,559,0.00,2.62,0.00,0.000,4,0.000,0.063,2523,793,3604
$GC,600,-1.68,-97.8,51.9,-11.3,66,605,0.00,2.47,0.00,0.000,6,0.000,0.036,2523,2207,3604
$GC,796,-1.68,-97.8,73.4,-10.8,81,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2207,3604
$GC,986,-1.68,-97.8,93.0,-10.1,96,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2207,3604
$GC,1174,-1.68,-97.8,113.0,-10.1,111,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2207,3604
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1254,-0.38,0.0,120.3,9.5,117,1336,1.50,0.00,78.35,0.693,6,0.107,0.000,2815,2065,3202
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1339,1.68,97.8,122.8,0.0,124,1425,2.12,2.62,77.38,0.673,4,0.062,0.055,3269,3482,2802
$GC,1457,1.70,107.2,117.4,8.3,133,1468,0.00,2.47,6.97,0.719,6,0.000,0.035,3269,2091,2764
$GC,1659,1.71,120.3,100.4,8.1,149,1675,0.00,2.58,9.62,0.712,4,0.000,0.054,3269,3473,2710
$GC,1737,1.71,120.3,93.0,10.4,155,1741,0.00,2.42,0.00,0.000,6,0.000,0.036,3269,2076,2710
$GC,1939,1.71,120.3,73.4,9.6,171,1943,0.00,2.53,0.00,0.000,4,0.000,0.054,3269,3476,2710
$GC,1998,1.71,120.3,67.7,9.9,175,2002,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2079,2709
$GC,2193,1.71,120.3,49.5,9.1,190,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2079,2709
$GC,2384,1.72,123.9,32.5,8.7,205,2396,0.00,2.60,2.58,0.775,4,0.000,0.054,3269,3478,2696
$GC,2427,1.72,123.9,28.1,9.6,208,2435,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2087,2696
$GC,2629,1.76,162.1,11.3,6.6,232,2665,0.00,0.00,29.30,0.646,6,0.000,0.000,3269,2087,2540
$STATE,2702,end climb,SURFACE_DEPTH_REACHED
$STATE,2702,begin surface coast
$FINISH,0.3,1.022893
$STATE,2763,end surface coast,CONTROL_FINISHED_OK
$STATE,2763,begin surface
$SM_CCo,2786,154.27,0.582,0,0,1162,500.17
$SM_GC,0.91,0.00,0.00,154.27,0.000,0.000,0.582,405,2215,1162,-11.48,0.42,500.17
$IRIDIUM_FIX,4719.74,-12251.79,011007,010145
$TT8_MAMPS,0.028379
$HUMID,2156
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.6,999.0
$24V_AH,23.6,35.271
$10V_AH,10.2,21.905
$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,29.725,35.775,204.200,154.275,0.000,62.470,36.048,151.772,0.500,0.000,0.000,33.118,464.699,1614.258,476.360,461.023,367.278,33.357,762.709,0.000,436.192,0.000,2.491
$DEVICE_MAMPS,197.119,73.632,774.670,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6441,253
$CFSIZE,260231168,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,233635,4739.441,-12252.829,11,2.1,30,18.3