version: 66.02
glider: 116
mission: 4
dive: 59
start: 9 22 107 23 15 9
data:
$ID,116
$MISSION,4
$DIVE,59
$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,-26262.01
$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
$GPS1,230753,4739.256,-12253.379,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.1
$GPS2,231359,4739.272,-12253.353,14,2.3,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.168
$KALMAN_X,10802.6,-11.6,-121.5,-11113.4,24.0
$KALMAN_Y,3043.5,-126.6,-130.0,-3015.4,-41.8
$MHEAD_RNG_PITCHd_Wd,197.9,593,-19.6,-8.889
$D_GRID,127
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.75,-97.8,0.0,0.0,0,96,0.00,0.00,-66.43,0.000,2,0.000,0.000,134,2045,3227
$GC,100,-1.75,-97.8,2.2,-5.3,11,137,15.52,2.65,-13.05,0.000,4,0.215,0.073,2509,3452,3681
$GC,389,-1.75,-97.8,21.8,-6.6,53,393,0.00,2.47,0.00,0.000,6,0.000,0.037,2509,2051,3683
$GC,585,-1.75,-97.8,33.3,-6.0,68,589,0.00,2.60,0.00,0.000,4,0.000,0.061,2509,3458,3683
$GC,769,-1.75,-97.8,45.6,-6.3,81,776,0.00,2.50,0.00,0.000,6,0.000,0.038,2509,2039,3683
$GC,965,-1.75,-97.8,57.5,-6.4,97,969,0.00,2.58,0.00,0.000,4,0.000,0.066,2509,654,3683
$GC,1031,-1.75,-97.8,61.0,-5.6,102,1036,0.00,2.50,0.00,0.000,6,0.000,0.039,2509,2060,3683
$GC,1227,-1.75,-97.8,72.7,-5.9,117,1231,0.00,2.62,0.00,0.000,4,0.000,0.063,2509,652,3683
$GC,1278,-1.75,-97.8,76.2,-6.8,120,1285,0.00,2.47,0.00,0.000,6,0.000,0.038,2509,2050,3683
$GC,1475,-1.75,-97.8,88.9,-6.6,136,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2050,3683
$GC,1666,-1.75,-97.8,99.8,-5.4,151,1674,0.00,2.62,0.00,0.000,4,0.000,0.063,2509,651,3683
$GC,1726,-1.75,-97.8,102.9,-5.4,155,1733,0.00,2.47,0.00,0.000,6,0.000,0.038,2509,2055,3683
$GC,1923,-1.75,-97.8,114.4,-6.0,171,1927,0.00,2.60,0.00,0.000,4,0.000,0.063,2509,656,3683
$STATE,2027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2029,begin apogee
$GC,2038,-0.42,0.0,120.3,4.9,179,2159,1.48,0.00,117.10,0.657,6,0.112,0.000,2798,2498,3282
$STATE,2160,end apogee,CONTROL_FINISHED_OK
$STATE,2160,begin climb
$GC,2165,1.75,97.8,120.2,0.0,189,2292,2.15,2.65,114.80,0.629,4,0.060,0.054,3277,1100,2882
$GC,2352,1.75,97.8,99.9,13.3,204,2356,0.00,2.50,0.00,0.000,6,0.000,0.042,3276,2502,2882
$GC,2554,1.75,97.8,74.2,12.5,220,2558,0.00,2.62,0.00,0.000,4,0.000,0.075,3276,3890,2882
$GC,2618,1.75,97.8,65.7,12.6,224,2625,0.00,2.47,0.00,0.000,6,0.000,0.039,3276,2498,2881
$GC,2815,1.75,97.8,41.4,12.6,240,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2496,2882
$GC,3007,1.75,97.8,18.1,12.3,256,3013,0.00,2.62,0.00,0.000,4,0.000,0.071,3276,3891,2881
$GC,3046,1.75,97.8,13.4,11.6,262,3052,0.00,2.45,0.00,0.000,6,0.000,0.040,3277,2500,2881
$GC,3118,1.75,97.8,5.6,10.9,273,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2498,2881
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.6,1.020751
$STATE,3176,end surface coast,CONTROL_FINISHED_OK
$STATE,3176,begin surface
$SM_CCo,3207,142.80,0.576,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,142.80,0.000,0.000,0.576,136,2047,1649,-12.69,-0.08,400.08
$IRIDIUM_FIX,4722.92,-12221.66,230907,020200
$TT8_MAMPS,0.066729
$HUMID,2090
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,192
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.8,11.289
$10V_AH,10.1,6.077
$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,33.550,47.575,231.900,142.800,0.000,37.398,39.290,145.325,49.250,103.761,3750.239,34.590,533.707,1771.566,480.630,549.754,408.717,33.364,798.208,0.000,511.627,0.000,8.799
$DEVICE_MAMPS,214.760,75.166,656.552,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.061,0.000,0.000,0.000,0.000,0.000,0.000,3854.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,282
$CFSIZE,260034560,255262720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,001208,4739.068,-12253.562,32,1.2,32,18.3