version: 66.02
glider: 117
mission: 4
dive: 19
start: 9 22 107 15 26 40
data:
$ID,117
$MISSION,4
$DIVE,19
$D_SURF,2
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16819.416
$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,2100
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,44
$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,10
$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
$GPS1,151655,4739.326,-12251.155,31,1.1,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-64.4
$GPS2,152533,4739.380,-12251.090,14,0.9,14,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,-0.098
$KALMAN_X,5446.2,792.5,304.0,-4541.4,141.6
$KALMAN_Y,3979.3,578.9,170.6,-5489.0,45.1
$MHEAD_RNG_PITCHd_Wd,223.7,1336,-20.3,-8.889
$D_GRID,119
$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,-97.8,0.0,0.0,0,82,0.00,0.00,-55.22,0.000,2,0.000,0.000,409,2116,2540
$GC,85,-1.68,-97.8,2.1,-4.0,9,151,13.62,0.00,-45.28,0.000,6,0.196,0.000,2528,2119,3603
$GC,217,-1.68,-97.8,8.2,-7.9,30,223,0.00,2.50,0.00,0.000,4,0.000,0.054,2528,3485,3604
$GC,309,-1.68,-97.8,18.1,-11.0,44,316,0.00,2.45,0.00,0.000,6,0.000,0.034,2528,2088,3604
$GC,378,-1.68,-97.8,25.1,-9.7,51,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2088,3605
$GC,569,-1.68,-97.8,42.9,-9.7,66,573,0.00,2.60,0.00,0.000,4,0.000,0.052,2529,3483,3605
$GC,601,-1.68,-97.8,46.0,-9.9,68,605,0.00,2.42,0.00,0.000,6,0.000,0.034,2528,2094,3605
$GC,803,-1.68,-97.8,65.1,-9.5,84,807,0.00,2.53,0.00,0.000,4,0.000,0.054,2528,3484,3605
$GC,828,-1.68,-97.8,67.7,-10.5,86,833,0.00,2.45,0.00,0.000,6,0.000,0.034,2529,2096,3605
$GC,1030,-1.68,-97.8,85.9,-9.2,102,1035,0.00,2.55,0.00,0.000,4,0.000,0.054,2528,3489,3605
$GC,1096,-1.68,-97.8,92.4,-10.3,107,1100,0.00,2.45,0.00,0.000,6,0.000,0.035,2528,2096,3605
$GC,1298,-1.68,-97.8,111.7,-9.5,123,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2096,3606
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1390,-0.38,0.0,120.1,9.6,130,1472,1.50,0.00,77.93,0.676,6,0.107,0.000,2815,1909,3202
$STATE,1473,end apogee,CONTROL_FINISHED_OK
$STATE,1473,begin climb
$GC,1475,1.68,97.8,122.4,0.0,137,1556,2.17,0.00,75.90,0.657,6,0.065,0.000,3271,1908,2803
$GC,1745,1.71,115.1,105.7,7.8,159,1763,0.00,2.55,13.05,0.686,4,0.000,0.049,3271,3293,2731
$GC,1807,1.71,115.1,100.3,9.0,163,1815,0.00,2.50,0.00,0.000,6,0.000,0.036,3271,1914,2730
$GC,2004,1.72,124.3,82.9,8.3,179,2017,0.00,2.62,6.55,0.708,4,0.000,0.048,3272,3293,2694
$GC,2162,1.72,124.3,67.7,9.6,191,2166,0.00,2.45,0.00,0.000,6,0.000,0.037,3272,1908,2694
$GC,2364,1.72,124.3,49.1,8.9,207,2368,0.00,2.53,0.00,0.000,4,0.000,0.050,3272,3293,2695
$GC,2534,1.72,124.3,32.8,9.3,219,2542,0.00,2.50,0.00,0.000,6,0.000,0.036,3272,1914,2693
$GC,2733,1.73,137.4,15.9,8.1,238,2745,0.00,0.00,9.70,0.673,6,0.000,0.000,3272,1914,2642
$GC,2813,1.75,149.0,9.7,8.2,250,2831,0.00,2.58,9.00,0.670,4,0.000,0.051,3272,3293,2593
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,1.7,1.020369
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3024,135.50,0.584,0,0,1367,450.13
$SM_GC,1.06,0.00,0.00,135.50,0.000,0.000,0.584,412,2089,1367,-11.44,-0.31,450.13
$IRIDIUM_FIX,4722.92,-12249.11,220907,181859
$TT8_MAMPS,0.073632
$HUMID,2319
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.20
$XPDR_PINGS,116
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,94.7,999.0
$24V_AH,23.0,16.496
$10V_AH,10.1,10.213
$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,31.100,40.125,192.125,135.500,0.000,63.873,33.319,232.405,29.500,431.749,3363.251,14.306,519.326,1759.016,451.549,510.762,466.592,33.322,749.985,0.000,486.187,0.000,4.053
$DEVICE_MAMPS,195.585,53.690,707.941,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.839,0.000,0.000,0.000,0.000,0.000,0.000,3795.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9567,278
$CFSIZE,260231168,256942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,162029,4739.254,-12251.386,15,2.7,34,18.3