version: 66.02
glider: 116
mission: 4
dive: 53
start: 9 22 107 17 22 17
data:
$ID,116
$MISSION,4
$DIVE,53
$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,51361
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,400
$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,-26134.955
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3893
$C_VBD,3281
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.025896728
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$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,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,171426,4738.979,-12251.963,13,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.3
$GPS2,172107,4739.012,-12251.903,14,1.1,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,0.188
$KALMAN_X,10279.1,617.0,134.8,-9667.8,-93.3
$KALMAN_Y,3551.4,143.3,4.1,-4405.4,-52.6
$MHEAD_RNG_PITCHd_Wd,316.3,1046,-19.6,-8.889
$D_GRID,128
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-1.75,-97.8,0.0,0.0,0,92,0.00,0.00,-58.78,0.000,2,0.000,0.000,133,2045,3060
$GC,95,-1.75,-97.8,2.1,-4.6,10,139,15.18,2.58,-21.98,0.000,4,0.206,0.074,2510,655,3680
$GC,391,-1.75,-97.8,17.8,-4.4,55,397,0.00,2.45,0.00,0.000,6,0.000,0.037,2509,2061,3682
$GC,463,-1.75,-97.8,20.7,-4.3,65,468,0.00,2.60,0.00,0.000,4,0.000,0.059,2510,648,3682
$GC,628,-1.75,-97.8,30.0,-6.9,77,633,0.00,2.47,0.00,0.000,6,0.000,0.038,2510,2058,3683
$GC,824,-1.75,-97.8,43.1,-6.7,92,829,0.00,2.60,0.00,0.000,4,0.000,0.062,2510,650,3683
$GC,910,-1.75,-97.8,49.4,-7.8,98,914,0.00,2.45,0.00,0.000,6,0.000,0.038,2510,2047,3683
$GC,1106,-1.75,-97.8,62.5,-6.3,113,1110,0.00,2.60,0.00,0.000,4,0.000,0.062,2510,652,3683
$GC,1240,-1.75,-97.8,71.7,-6.6,122,1247,0.00,2.47,0.00,0.000,6,0.000,0.039,2510,2051,3683
$GC,1436,-1.75,-97.8,84.6,-6.4,138,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2052,3683
$GC,1629,-1.75,-97.8,96.3,-6.2,153,1634,0.00,2.60,0.00,0.000,4,0.000,0.063,2510,652,3683
$GC,1669,-1.75,-97.8,99.2,-6.7,155,1676,0.00,2.47,0.00,0.000,6,0.000,0.038,2510,2058,3683
$GC,1867,-1.75,-97.8,111.8,-6.3,171,1871,0.00,2.60,0.00,0.000,4,0.000,0.062,2510,656,3683
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1985,begin apogee
$GC,1994,-0.42,0.0,120.3,7.5,179,2115,1.48,0.00,116.62,0.657,6,0.111,0.000,2798,2491,3281
$STATE,2116,end apogee,CONTROL_FINISHED_OK
$STATE,2116,begin climb
$GC,2121,1.75,97.8,122.4,0.0,189,2248,2.20,2.75,114.95,0.631,4,0.060,0.079,3283,3883,2882
$GC,2287,1.75,97.8,106.6,13.2,202,2294,0.00,2.47,0.00,0.000,6,0.000,0.039,3283,2505,2883
$GC,2484,1.75,97.8,81.4,12.7,218,2488,0.00,2.65,0.00,0.000,4,0.000,0.073,3283,3895,2882
$GC,2530,1.75,97.8,75.2,13.1,221,2534,0.00,2.47,0.00,0.000,6,0.000,0.039,3283,2496,2882
$GC,2725,1.75,97.8,50.3,13.0,236,2729,0.00,2.65,0.00,0.000,4,0.000,0.071,3283,3895,2882
$GC,2763,1.75,97.8,45.0,13.9,238,2770,0.00,2.50,0.00,0.000,6,0.000,0.038,3283,2496,2882
$GC,2959,1.75,97.8,20.7,11.9,254,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2494,2882
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3155,begin surface coast
$FINISH,0.4,1.020912
$STATE,3202,end surface coast,CONTROL_FINISHED_OK
$STATE,3202,begin surface
$SM_CCo,3233,143.77,0.578,0,0,1650,400.08
$SM_GC,0.92,0.00,0.00,143.77,0.000,0.000,0.578,135,2047,1650,-12.70,-0.08,400.08
$IRIDIUM_FIX,4719.74,-12250.06,220907,202050
$TT8_MAMPS,0.066729
$HUMID,2110
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,150
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.8,10.605
$10V_AH,10.0,5.633
$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,33.525,47.550,231.575,143.775,0.000,38.368,36.025,180.076,38.750,124.570,3752.430,32.629,556.325,1755.459,467.753,577.670,449.655,33.344,796.171,0.000,537.827,0.000,8.790
$DEVICE_MAMPS,206.323,79.001,657.319,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.597,0.000,0.000,0.000,0.000,0.000,0.000,3877.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9561,290
$CFSIZE,260034560,255467520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,181921,4739.218,-12252.155,10,1.6,10,18.3