version: 66.02
glider: 117
mission: 4
dive: 221
start: 10 1 107 4 33 33
data:
$ID,117
$MISSION,4
$DIVE,221
$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,-21797.836
$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
$GPS1,042608,4739.479,-12252.270,44,1.4,44,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-58.8
$GPS2,043226,4739.548,-12252.165,17,1.5,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.109
$KALMAN_X,30428.6,235.9,-199.2,-29807.2,253.3
$KALMAN_Y,15384.6,157.2,-71.5,-15919.6,179.3
$MHEAD_RNG_PITCHd_Wd,220.2,331,-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,23,-1.68,-97.8,0.0,0.0,0,98,0.00,0.00,-73.47,0.000,2,0.000,0.000,407,2208,2683
$GC,102,-1.68,-97.8,2.1,-4.0,12,157,13.30,0.00,-37.30,0.000,6,0.196,0.000,2523,2209,3602
$GC,222,-1.68,-97.8,9.0,-9.0,31,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2209,3605
$GC,294,-1.68,-97.8,16.4,-10.6,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2209,3605
$GC,373,-1.68,-97.8,23.8,-9.6,51,377,0.00,2.62,0.00,0.000,4,0.000,0.063,2523,798,3604
$GC,418,-1.68,-97.8,28.7,-10.6,54,422,0.00,2.45,0.00,0.000,6,0.000,0.036,2523,2200,3604
$GC,614,-1.68,-97.8,48.2,-9.6,69,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3604
$GC,804,-1.68,-97.8,67.3,-10.4,84,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3605
$GC,995,-1.68,-97.8,88.2,-11.1,99,1000,0.00,2.53,0.00,0.000,4,0.000,0.060,2523,3598,3605
$GC,1041,-1.68,-97.8,93.8,-11.9,102,1045,0.00,2.42,0.00,0.000,6,0.000,0.036,2523,2190,3604
$GC,1236,-1.68,-97.8,115.6,-10.3,117,1240,0.00,2.58,0.00,0.000,4,0.000,0.067,2523,804,3604
$GC,1274,-1.68,-97.8,119.8,-10.8,119,1281,0.00,2.47,0.00,0.000,6,0.000,0.037,2523,2201,3605
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1298,-0.38,0.0,121.7,10.4,121,1381,1.48,0.00,78.40,0.688,6,0.105,0.000,2811,2067,3202
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,1.68,97.8,124.5,0.0,128,1470,2.15,2.60,77.93,0.664,4,0.062,0.054,3268,3477,2802
$GC,1522,1.72,126.7,118.2,7.1,139,1551,0.00,2.42,22.30,0.677,6,0.000,0.036,3268,2092,2685
$GC,1749,1.73,132.0,99.1,8.6,157,1754,0.00,0.00,3.58,0.751,6,0.000,0.000,3269,2092,2663
$GC,1938,1.74,140.0,83.6,8.4,172,1951,0.00,2.55,5.88,0.726,4,0.000,0.055,3268,3479,2631
$GC,2029,1.74,140.0,75.0,9.5,179,2034,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2073,2631
$GC,2225,1.74,140.0,55.5,10.3,194,2229,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3485,2631
$GC,2284,1.74,140.0,49.4,10.6,198,2288,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2075,2630
$GC,2479,1.74,140.0,30.0,9.4,213,2483,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3476,2630
$GC,2570,1.74,140.0,20.8,9.7,219,2577,0.00,2.45,0.00,0.000,6,0.000,0.035,3269,2081,2630
$STATE,2760,end climb,SURFACE_DEPTH_REACHED
$STATE,2760,begin surface coast
$FINISH,0.5,1.022791
$STATE,2821,end surface coast,CONTROL_FINISHED_OK
$STATE,2821,begin surface
$SM_CCo,2843,170.98,0.583,0,0,1162,500.17
$SM_GC,1.06,0.00,0.00,170.98,0.000,0.000,0.583,408,2217,1162,-11.46,0.48,500.17
$IRIDIUM_FIX,4722.92,-12256.21,011007,070758
$TT8_MAMPS,0.028379
$HUMID,2148
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.6,35.735
$10V_AH,10.2,22.044
$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,29.925,35.425,188.075,170.975,0.000,60.608,30.447,139.140,0.500,0.000,0.000,17.980,484.934,1644.462,480.489,466.702,346.538,33.351,769.358,0.000,455.780,0.000,2.490
$DEVICE_MAMPS,196.352,66.729,750.893,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6458,256
$CFSIZE,260231168,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,052433,4739.489,-12252.351,11,1.5,11,18.3