version: 66.02
glider: 117
mission: 4
dive: 220
start: 10 1 107 3 32 24
data:
$ID,117
$MISSION,4
$DIVE,220
$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,-21779.227
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,032126,4739.450,-12252.316,7,1.2,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.0
$GPS2,033115,4739.547,-12252.124,15,1.7,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.112
$KALMAN_X,30022.9,218.7,-177.7,-29356.8,153.1
$KALMAN_Y,15134.2,127.3,-83.7,-15629.6,165.0
$MHEAD_RNG_PITCHd_Wd,219.2,377,-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,-97.8,0.0,0.0,0,96,0.00,0.00,-73.43,0.000,2,0.000,0.000,412,2201,2676
$GC,100,-1.68,-97.8,2.2,-4.0,12,161,13.20,2.62,-37.85,0.000,4,0.194,0.071,2525,3610,3602
$GC,180,-1.68,-97.8,5.3,-7.0,25,187,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2194,3602
$GC,252,-1.68,-97.8,11.8,-9.8,36,259,0.00,2.60,0.00,0.000,4,0.000,0.064,2525,800,3604
$GC,337,-1.68,-97.8,20.1,-9.8,49,344,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2214,3604
$GC,533,-1.68,-97.8,39.4,-10.0,65,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2214,3604
$GC,723,-1.68,-97.8,58.8,-10.3,80,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2214,3604
$GC,914,-1.68,-97.8,77.4,-9.7,95,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2214,3604
$GC,1102,-1.68,-97.8,94.5,-8.9,110,1107,0.00,2.50,0.00,0.000,4,0.000,0.060,2525,3596,3604
$GC,1141,-1.68,-97.8,98.4,-9.4,113,1145,0.00,2.40,0.00,0.000,6,0.000,0.036,2525,2204,3604
$GC,1336,-1.68,-97.8,116.5,-9.2,128,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2204,3604
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1378,-0.38,0.0,120.2,9.9,131,1460,1.48,0.00,78.30,0.690,6,0.108,0.000,2810,2064,3202
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1464,1.68,97.8,123.1,0.0,138,1546,2.15,0.00,77.25,0.667,6,0.064,0.000,3267,2064,2803
$GC,1733,1.69,100.6,105.7,8.7,160,1736,0.00,0.00,1.77,0.810,6,0.000,0.000,3267,2065,2791
$GC,1921,1.69,100.6,88.7,9.1,175,1925,0.00,2.58,0.00,0.000,4,0.000,0.055,3267,3480,2791
$GC,2065,1.69,100.6,75.3,9.0,185,2073,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,2088,2791
$GC,2262,1.69,100.6,58.0,9.1,201,2266,0.00,2.53,0.00,0.000,4,0.000,0.055,3267,3482,2791
$GC,2352,1.69,100.6,49.2,9.3,207,2360,0.00,2.47,0.00,0.000,6,0.000,0.035,3267,2075,2790
$GC,2549,1.70,111.6,32.4,8.2,223,2561,0.00,0.00,8.10,0.703,6,0.000,0.000,3267,2075,2747
$GC,2753,1.71,121.3,15.3,8.3,243,2765,0.00,0.00,7.43,0.698,6,0.000,0.000,3267,2075,2706
$GC,2832,1.75,151.4,9.2,7.1,255,2863,0.00,2.67,23.10,0.639,4,0.000,0.067,3268,680,2584
$STATE,2887,end climb,SURFACE_DEPTH_REACHED
$STATE,2887,begin surface coast
$FINISH,0.3,1.022602
$STATE,2961,end surface coast,CONTROL_FINISHED_OK
$STATE,2961,begin surface
$SM_CCo,2986,159.75,0.578,0,0,1162,500.17
$SM_GC,1.07,0.00,0.00,159.75,0.000,0.000,0.578,406,2208,1162,-11.47,0.23,500.17
$IRIDIUM_FIX,4719.74,-11939.93,011007,070740
$TT8_MAMPS,0.028379
$HUMID,2164
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.6,35.659
$10V_AH,10.2,22.020
$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,29.800,30.675,195.950,159.750,0.000,101.777,145.239,138.156,0.250,0.000,0.000,15.084,496.859,1827.473,486.318,456.546,501.409,33.379,766.034,0.000,449.979,0.000,2.501
$DEVICE_MAMPS,194.051,70.564,809.952,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6446,275
$CFSIZE,260231168,250880000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,042608,4739.479,-12252.270,44,1.4,44,18.3