version: 66.02
glider: 117
mission: 4
dive: 257
start: 10 2 107 18 12 11
data:
$ID,117
$MISSION,4
$DIVE,257
$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,-22700.244
$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,30
$R_STBD_OVSHOOT,37
$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,2
$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
$GPS1,175859,4739.511,-12252.217,10,3.5,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.9
$GPS2,181105,4739.660,-12252.020,13,2.9,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,-0.136
$KALMAN_X,36060.9,324.9,-119.0,-35431.0,153.9
$KALMAN_Y,20397.2,266.3,-111.5,-20798.0,162.5
$MHEAD_RNG_PITCHd_Wd,211.0,596,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.68,-97.8,0.0,0.0,0,115,0.00,0.00,-85.20,0.000,2,0.000,0.000,413,2188,2879
$GC,118,-1.68,-97.8,2.1,-5.1,14,162,13.32,2.65,-24.17,0.000,4,0.199,0.074,2524,804,3603
$GC,183,-1.68,-97.8,6.6,-8.8,24,190,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2199,3605
$GC,256,-1.68,-97.8,12.5,-8.2,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2199,3605
$GC,327,-1.68,-97.8,19.0,-9.4,46,334,0.00,2.53,0.00,0.000,4,0.000,0.058,2524,3595,3605
$GC,358,-1.68,-97.8,22.3,-10.5,49,366,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2209,3605
$GC,555,-1.68,-97.8,41.4,-10.3,65,559,0.00,2.62,0.00,0.000,4,0.000,0.065,2524,800,3605
$GC,587,-1.68,-97.8,44.6,-10.2,67,592,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2200,3605
$GC,783,-1.68,-97.8,64.2,-10.0,82,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3605
$GC,974,-1.68,-97.8,83.2,-9.7,97,978,0.00,2.55,0.00,0.000,4,0.000,0.058,2524,3595,3605
$GC,1006,-1.68,-97.8,86.8,-10.7,99,1011,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2199,3605
$GC,1202,-1.68,-97.8,106.6,-9.9,114,1206,0.00,2.53,0.00,0.000,4,0.000,0.055,2524,3598,3605
$GC,1276,-1.68,-97.8,113.3,-9.6,119,1280,0.00,2.42,0.00,0.000,6,0.000,0.035,2524,2200,3605
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1349,-0.38,0.0,120.4,10.4,124,1431,1.50,0.00,78.07,0.696,6,0.108,0.000,2814,2073,3202
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,1.68,97.8,124.1,0.0,131,1519,2.12,2.60,76.30,0.693,4,0.063,0.053,3267,3475,2802
$GC,1696,1.70,113.2,108.2,7.9,151,1716,0.00,2.45,11.75,0.726,6,0.000,0.035,3267,2086,2739
$GC,1905,1.71,117.7,90.8,8.6,168,1917,0.00,2.58,2.90,0.791,4,0.000,0.053,3267,3475,2722
$GC,2011,1.71,117.7,81.0,9.3,176,2015,0.00,2.42,0.00,0.000,6,0.000,0.036,3267,2079,2721
$GC,2207,1.71,120.7,63.4,8.7,191,2214,0.00,2.60,1.98,0.821,4,0.000,0.054,3267,3479,2710
$GC,2391,1.72,124.1,46.7,8.7,204,2399,0.00,2.45,2.72,0.775,6,0.000,0.035,3267,2086,2695
$GC,2588,1.72,130.9,30.0,8.5,220,2599,0.00,0.00,5.00,0.735,6,0.000,0.000,3267,2086,2668
$GC,2793,1.73,133.0,12.0,8.8,243,2799,0.00,0.00,1.60,0.811,6,0.000,0.000,3267,2085,2659
$STATE,2863,end climb,SURFACE_DEPTH_REACHED
$STATE,2863,begin surface coast
$FINISH,0.4,1.022437
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2945,167.60,0.588,0,0,1163,500.17
$SM_GC,0.87,0.00,0.00,167.60,0.000,0.000,0.588,407,2213,1163,-11.47,0.37,500.17
$IRIDIUM_FIX,4722.92,-12254.47,021007,222233
$TT8_MAMPS,0.075166
$HUMID,2144
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.3,999.0
$24V_AH,23.5,39.066
$10V_AH,10.1,24.441
$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,29.900,40.500,180.325,167.600,0.000,101.260,73.877,268.568,0.500,29.060,3950.940,33.060,500.541,1742.658,483.014,527.903,611.004,33.347,781.559,0.000,480.701,0.000,2.490
$DEVICE_MAMPS,198.653,73.632,821.457,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.067,0.000,0.000,0.000,0.000,0.000,0.000,3980.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6461,262
$CFSIZE,260231168,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,190456,4739.538,-12252.175,12,2.0,17,18.3