version: 66.02
glider: 117
mission: 4
dive: 259
start: 10 2 107 20 22 16
data:
$ID,117
$MISSION,4
$DIVE,259
$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,-22746.402
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,200827,4739.563,-12252.056,11,1.6,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.0
$GPS2,202109,4739.723,-12251.717,16,1.5,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,-0.110
$KALMAN_X,37033.2,327.4,57.8,-36205.2,325.2
$KALMAN_Y,21007.4,262.3,51.3,-21447.4,211.3
$MHEAD_RNG_PITCHd_Wd,219.9,977,-20.3,-8.889
$D_GRID,123
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,113,0.00,0.00,-84.70,0.000,2,0.000,0.000,411,2190,2903
$GC,116,-1.68,-97.8,2.2,-4.4,14,159,13.40,0.00,-25.12,0.000,6,0.199,0.000,2526,2191,3602
$GC,225,-1.68,-97.8,10.2,-9.4,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3604
$GC,297,-1.68,-97.8,15.9,-7.2,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,367,-1.68,-97.8,22.8,-9.5,51,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,560,-1.68,-97.8,40.9,-9.9,66,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2192,3604
$GC,748,-1.68,-97.8,59.8,-10.3,81,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,937,-1.68,-97.8,78.6,-9.4,96,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2191,3605
$GC,1128,-1.68,-97.8,97.3,-9.6,111,1132,0.00,2.60,0.00,0.000,4,0.000,0.066,2526,801,3605
$GC,1160,-1.68,-97.8,100.9,-10.3,113,1165,0.00,2.45,0.00,0.000,6,0.000,0.037,2526,2198,3605
$GC,1355,-1.68,-97.8,119.3,-9.5,128,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2199,3604
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1372,-0.38,0.0,120.5,9.5,129,1454,1.48,0.00,77.88,0.693,6,0.106,0.000,2812,2069,3202
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1458,1.68,97.8,123.3,0.0,136,1543,2.12,2.62,76.60,0.670,4,0.060,0.056,3268,3478,2802
$GC,1622,1.71,116.5,115.9,7.7,149,1641,0.00,2.42,14.20,0.697,6,0.000,0.036,3268,2091,2727
$GC,1829,1.71,116.5,97.5,9.1,165,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2091,2725
$GC,2020,1.71,122.6,80.6,8.5,180,2033,0.00,2.58,4.25,0.751,4,0.000,0.055,3268,3476,2702
$GC,2091,1.71,122.6,73.6,9.7,185,2098,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2079,2702
$GC,2288,1.72,129.4,56.8,8.5,201,2299,0.00,0.00,5.47,0.733,6,0.000,0.000,3268,2079,2673
$GC,2489,1.72,129.4,38.1,9.0,217,2493,0.00,2.55,0.00,0.000,4,0.000,0.054,3268,3482,2673
$GC,2579,1.72,129.4,28.9,10.7,223,2587,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,2082,2673
$GC,2780,1.72,129.4,10.1,10.5,246,2787,0.00,2.65,0.00,0.000,4,0.000,0.071,3268,675,2673
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,2.7,1.022510
$STATE,2884,end surface coast,CONTROL_FINISHED_OK
$STATE,2884,begin surface
$SM_CCo,2915,174.48,0.585,0,0,1162,500.17
$SM_GC,0.89,0.00,0.00,174.48,0.000,0.000,0.585,414,2204,1162,-11.44,0.11,500.17
$IRIDIUM_FIX,4722.92,-12249.11,031007,000002
$TT8_MAMPS,0.073632
$HUMID,2165
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.6,39.271
$10V_AH,10.1,24.603
$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,30.700,25.725,178.400,174.475,0.000,102.425,69.847,321.282,0.500,29.050,3931.950,16.282,488.245,1782.779,478.901,467.007,662.663,33.352,754.703,0.000,440.184,0.000,2.491
$DEVICE_MAMPS,198.653,70.564,750.893,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.941,0.000,0.000,0.000,0.000,0.000,0.000,3961.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6448,262
$CFSIZE,260231168,249659392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,211433,4739.650,-12251.793,11,2.0,11,18.3