version: 66.02
glider: 117
mission: 4
dive: 225
start: 10 1 107 9 3 6
data:
$ID,117
$MISSION,4
$DIVE,225
$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,602.45679
$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,-21879.809
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,084826,4739.521,-12252.292,8,1.9,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.4
$GPS2,090157,4739.604,-12252.121,15,1.9,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,-0.127
$KALMAN_X,31605.7,328.6,214.4,-31435.3,174.3
$KALMAN_Y,16469.3,284.0,179.0,-17276.1,144.1
$MHEAD_RNG_PITCHd_Wd,214.1,433,-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,-97.8,0.0,0.0,0,121,0.00,0.00,-96.90,0.000,2,0.000,0.000,412,2178,2705
$GC,125,-1.68,-97.8,2.3,-4.4,16,180,13.32,2.62,-31.52,0.000,4,0.199,0.068,2525,3591,3603
$GC,194,-1.68,-97.8,5.8,-6.9,27,201,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2200,3603
$GC,266,-1.68,-97.8,12.3,-10.2,38,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3603
$GC,339,-1.68,-97.8,20.4,-10.5,49,343,0.00,2.53,0.00,0.000,4,0.000,0.057,2525,3590,3603
$GC,403,-1.68,-97.8,27.7,-10.7,53,410,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2207,3603
$GC,599,-1.68,-97.8,48.6,-10.7,69,604,0.00,2.62,0.00,0.000,4,0.000,0.066,2525,801,3603
$GC,645,-1.68,-97.8,53.6,-10.8,72,649,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2194,3603
$GC,840,-1.68,-97.8,73.6,-10.2,87,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2194,3603
$GC,1033,-1.68,-97.8,92.3,-10.0,102,1037,0.00,2.53,0.00,0.000,4,0.000,0.059,2525,3595,3603
$GC,1065,-1.68,-97.8,95.9,-10.5,104,1070,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2200,3603
$GC,1260,-1.68,-97.8,114.7,-10.0,119,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2199,3603
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1327,-0.38,0.0,120.9,9.8,124,1408,1.48,0.00,73.80,0.685,6,0.108,0.000,2811,2073,3202
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1412,1.68,97.8,123.6,0.0,131,1497,2.17,2.60,77.12,0.669,4,0.063,0.054,3271,3475,2803
$GC,1611,1.70,108.3,113.0,8.2,147,1624,0.00,2.42,7.88,0.715,6,0.000,0.036,3271,2089,2760
$GC,1813,1.72,124.7,97.0,7.9,163,1827,0.00,0.00,12.65,0.697,6,0.000,0.000,3271,2088,2693
$GC,2014,1.72,126.4,79.3,8.8,179,2020,0.00,2.53,1.02,0.849,4,0.000,0.054,3271,3476,2686
$GC,2099,1.72,126.4,71.6,9.2,185,2103,0.00,2.45,0.00,0.000,6,0.000,0.036,3271,2073,2688
$GC,2294,1.73,133.1,55.0,8.5,200,2307,0.00,2.58,5.07,0.734,4,0.000,0.054,3271,3479,2659
$GC,2492,1.73,133.1,35.8,10.0,215,2496,0.00,2.42,0.00,0.000,6,0.000,0.036,3271,2080,2661
$GC,2694,1.75,151.7,19.6,7.8,231,2713,0.00,2.72,14.20,0.674,4,0.000,0.067,3272,680,2583
$GC,2733,1.75,151.7,16.2,9.3,237,2739,0.00,2.47,0.00,0.000,6,0.000,0.035,3271,2080,2584
$GC,2805,1.78,172.2,10.3,7.6,248,2830,0.00,2.60,15.68,0.658,4,0.000,0.057,3271,3472,2500
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,1.6,1.022680
$STATE,2934,end surface coast,CONTROL_FINISHED_OK
$STATE,2934,begin surface
$SM_CCo,2959,213.10,0.573,0,0,746,602.46
$SM_GC,0.98,0.00,0.00,213.10,0.000,0.000,0.573,409,2182,746,-11.46,-0.48,602.46
$IRIDIUM_FIX,4722.92,-12251.79,011007,121220
$TT8_MAMPS,0.028379
$HUMID,2162
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,22.9,36.103
$10V_AH,10.2,22.150
$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,30.625,45.175,207.425,213.100,0.000,183.674,300.676,0.000,0.500,0.000,0.000,15.779,494.696,1856.638,559.889,493.737,611.016,33.356,872.269,0.000,484.150,0.000,2.490
$DEVICE_MAMPS,198.653,68.263,849.069,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6457,268
$CFSIZE,260231168,250720256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,095645,4739.423,-12252.367,12,2.0,12,18.3