version: 66.02
glider: 117
mission: 4
dive: 212
start: 9 30 107 19 34 39
data:
$ID,117
$MISSION,4
$DIVE,212
$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,-21591.703
$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,30
$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
$GPS1,192256,4739.484,-12252.201,12,1.4,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.9
$GPS2,193332,4739.572,-12251.984,12,1.6,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.190,-0.085
$KALMAN_X,28356.2,118.6,138.0,-27728.3,323.1
$KALMAN_Y,13776.2,105.7,115.3,-14400.0,157.6
$MHEAD_RNG_PITCHd_Wd,227.7,555,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,109,0.00,0.00,-84.68,0.000,2,0.000,0.000,410,2209,2871
$GC,112,-1.68,-97.8,2.3,-4.3,14,159,13.32,0.00,-27.65,0.000,6,0.197,0.000,2525,2210,3602
$GC,225,-1.68,-97.8,9.1,-6.4,32,232,0.00,2.62,0.00,0.000,4,0.000,0.061,2525,796,3605
$GC,271,-1.68,-97.8,12.7,-8.0,39,277,0.00,2.47,0.00,0.000,6,0.000,0.035,2525,2213,3605
$GC,343,-1.68,-97.8,19.4,-9.8,50,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2213,3605
$GC,419,-1.68,-97.8,26.9,-9.5,57,423,0.00,2.62,0.00,0.000,4,0.000,0.061,2525,795,3605
$GC,478,-1.68,-97.8,32.8,-10.0,61,482,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2199,3605
$GC,673,-1.68,-97.8,51.6,-9.6,76,677,0.00,2.50,0.00,0.000,4,0.000,0.059,2525,3595,3605
$GC,717,-1.68,-97.8,56.3,-10.0,79,725,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2206,3605
$GC,914,-1.68,-97.8,74.7,-9.4,95,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2206,3605
$GC,1105,-1.68,-97.8,91.7,-8.9,110,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2206,3605
$GC,1293,-1.68,-97.8,108.8,-9.3,125,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2206,3605
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1423,-0.38,0.0,120.9,9.7,135,1505,1.48,0.00,78.32,0.693,6,0.108,0.000,2811,2066,3202
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1508,1.68,97.8,123.3,0.0,142,1591,2.15,0.00,77.40,0.672,6,0.064,0.000,3268,2066,2803
$GC,1777,1.69,102.0,105.1,8.6,164,1790,0.00,2.62,2.85,0.779,4,0.000,0.053,3268,3479,2785
$GC,1908,1.70,108.2,93.4,8.5,174,1921,0.00,2.40,4.55,0.751,6,0.000,0.036,3268,2088,2760
$GC,2110,1.70,113.2,76.9,8.6,190,2115,0.00,0.00,3.83,0.759,6,0.000,0.000,3268,2088,2740
$GC,2298,1.70,113.2,59.5,9.2,205,2302,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,3475,2739
$GC,2403,1.70,113.2,49.4,9.9,212,2410,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2080,2739
$GC,2599,1.72,125.5,33.1,8.1,228,2615,0.00,2.60,9.23,0.697,4,0.000,0.054,3268,3475,2689
$GC,2695,1.72,125.5,24.6,9.1,235,2703,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2082,2688
$GC,2899,1.73,137.9,7.5,8.1,262,2917,0.00,2.70,9.30,0.687,4,0.000,0.068,3268,682,2638
$STATE,2935,end climb,SURFACE_DEPTH_REACHED
$STATE,2935,begin surface coast
$FINISH,0.3,1.022545
$STATE,3015,end surface coast,CONTROL_FINISHED_OK
$STATE,3015,begin surface
$SM_CCo,3040,173.80,0.585,0,0,1162,500.17
$SM_GC,0.98,0.00,0.00,173.80,0.000,0.000,0.585,412,2207,1162,-11.44,0.20,500.17
$IRIDIUM_FIX,4722.92,-12256.21,300907,232357
$TT8_MAMPS,0.028379
$HUMID,2166
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.6,35.015
$10V_AH,10.2,21.831
$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,29.875,35.725,185.475,173.800,0.000,96.671,94.946,223.523,0.500,0.000,0.000,17.487,511.508,1833.102,502.126,485.686,548.497,33.365,797.074,0.000,476.641,0.000,2.492
$DEVICE_MAMPS,197.119,68.263,778.505,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6451,280
$CFSIZE,260231168,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,202857,4739.507,-12252.220,9,1.7,9,18.3