version: 66.02
glider: 117
mission: 4
dive: 21
start: 9 22 107 17 36 21
data:
$ID,117
$MISSION,4
$DIVE,21
$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,-16889.461
$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,38
$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
$GPS1,172553,4739.172,-12251.585,10,5.1,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-64.3
$GPS2,173514,4739.226,-12251.493,29,2.0,35,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.174,-0.114
$KALMAN_X,6030.9,725.2,206.1,-5465.8,-58.5
$KALMAN_Y,4389.9,498.9,85.6,-6020.6,-40.7
$MHEAD_RNG_PITCHd_Wd,218.4,758,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,87,0.00,0.00,-61.15,0.000,2,0.000,0.000,413,2112,2673
$GC,90,-1.68,-97.8,2.2,-4.5,10,146,13.55,2.75,-35.95,0.000,4,0.196,0.074,2527,696,3602
$GC,166,-1.68,-97.8,5.5,-9.3,22,172,0.00,2.50,0.00,0.000,6,0.000,0.035,2527,2094,3604
$GC,238,-1.68,-97.8,11.7,-9.2,33,244,0.00,2.55,0.00,0.000,4,0.000,0.054,2528,3499,3604
$GC,356,-1.68,-97.8,23.1,-9.4,49,360,0.00,2.45,0.00,0.000,6,0.000,0.035,2528,2094,3605
$GC,558,-1.68,-97.8,42.4,-9.5,65,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2093,3606
$GC,750,-1.68,-97.8,60.3,-9.3,80,754,0.00,2.58,0.00,0.000,4,0.000,0.054,2528,3502,3606
$GC,821,-1.68,-97.8,67.6,-9.7,85,826,0.00,2.47,0.00,0.000,6,0.000,0.035,2528,2095,3606
$GC,1023,-1.68,-97.8,87.3,-10.0,101,1027,0.00,2.58,0.00,0.000,4,0.000,0.054,2528,3498,3606
$GC,1064,-1.68,-97.8,91.5,-10.8,104,1068,0.00,2.45,0.00,0.000,6,0.000,0.035,2528,2100,3606
$GC,1259,-1.68,-97.8,111.9,-10.4,119,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2101,3606
$STATE,1345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1345,begin apogee
$GC,1351,-0.38,0.0,120.6,9.8,126,1433,1.50,0.00,78.15,0.678,6,0.108,0.000,2813,1911,3202
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1436,1.68,97.8,123.2,0.0,133,1522,2.10,2.72,75.85,0.657,4,0.065,0.071,3267,511,2803
$GC,1561,1.72,127.7,118.2,7.1,143,1589,0.00,2.50,23.10,0.664,6,0.000,0.037,3268,1911,2681
$GC,1787,1.72,127.7,98.7,8.9,161,1791,0.00,2.58,0.00,0.000,4,0.000,0.052,3267,3308,2678
$GC,1891,1.72,127.7,88.9,9.5,168,1899,0.00,2.55,0.00,0.000,6,0.000,0.035,3268,1916,2678
$GC,2088,1.73,131.6,71.5,8.7,184,2095,0.00,2.67,2.35,0.769,4,0.000,0.050,3268,3305,2665
$GC,2253,1.73,131.6,56.1,9.4,196,2257,0.00,2.50,0.00,0.000,6,0.000,0.037,3268,1909,2665
$GC,2455,1.74,141.2,38.5,8.3,212,2469,0.00,2.58,7.43,0.695,4,0.000,0.051,3268,3304,2626
$GC,2575,1.74,141.2,27.8,9.6,221,2579,0.00,2.50,0.00,0.000,6,0.000,0.037,3268,1907,2625
$GC,2775,1.76,163.3,11.1,7.5,244,2800,0.00,2.60,16.83,0.650,4,0.000,0.051,3268,3302,2535
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,1.3,1.020346
$STATE,2946,end surface coast,CONTROL_FINISHED_OK
$STATE,2946,begin surface
$SM_CCo,2973,130.55,0.584,0,0,1366,450.13
$SM_GC,1.05,0.00,0.00,130.55,0.000,0.000,0.584,413,2085,1366,-11.44,-0.45,450.13
$IRIDIUM_FIX,4722.92,-12253.53,220907,202008
$TT8_MAMPS,0.071331
$HUMID,2327
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,20.20
$XPDR_PINGS,80
$ALTIM_TOP_PING,9.6,9.3
$ALTIM_BOTTOM_PING,96.0,999.0
$24V_AH,23.1,16.917
$10V_AH,10.1,10.375
$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,30.900,46.000,203.700,130.550,0.000,55.919,42.908,252.116,20.500,429.201,3321.799,35.642,510.853,1713.021,442.768,540.843,486.100,33.324,747.999,0.000,491.339,0.000,4.120
$DEVICE_MAMPS,195.585,74.399,768.534,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.394,0.000,0.000,0.000,0.000,0.000,0.000,3751.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,270
$CFSIZE,260231168,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220907,182907,4739.034,-12251.793,11,1.4,27,18.3