version: 66.02
glider: 116
mission: 4
dive: 62
start: 9 23 107 2 26 27
data:
$ID,116
$MISSION,4
$DIVE,62
$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,-26327.801
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,021647,4738.726,-12253.088,11,5.4,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.2
$GPS2,022517,4738.745,-12253.080,13,4.9,32,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,-0.184
$KALMAN_X,11286.3,-176.9,55.4,-11270.4,131.3
$KALMAN_Y,3425.8,-145.6,41.4,-4524.3,158.8
$MHEAD_RNG_PITCHd_Wd,189.3,423,-19.6,-8.889
$D_GRID,136
$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,-97.8,0.0,0.0,0,90,0.00,0.00,-60.50,0.000,2,0.000,0.000,139,2053,3109
$GC,94,-1.75,-97.8,2.2,-5.5,10,132,15.35,2.65,-16.15,0.000,4,0.212,0.074,2507,650,3681
$GC,159,-1.75,-97.8,7.2,-9.1,20,165,0.00,2.47,0.00,0.000,6,0.000,0.038,2507,2059,3682
$GC,232,-1.75,-97.8,12.6,-6.0,31,238,0.00,2.55,0.00,0.000,4,0.000,0.061,2507,3455,3682
$GC,491,-1.75,-97.8,26.9,-5.6,61,497,0.00,2.45,0.00,0.000,6,0.000,0.037,2507,2046,3683
$GC,687,-1.75,-97.8,37.3,-5.5,77,691,0.00,2.58,0.00,0.000,4,0.000,0.059,2507,3455,3684
$GC,944,-1.75,-97.8,52.5,-5.9,96,948,0.00,2.45,0.00,0.000,6,0.000,0.038,2507,2045,3683
$GC,1146,-1.75,-97.8,64.0,-5.6,112,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2045,3684
$GC,1338,-1.75,-97.8,74.9,-5.9,127,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2045,3683
$GC,1529,-1.75,-97.8,86.1,-5.9,142,1533,0.00,2.55,0.00,0.000,4,0.000,0.065,2507,657,3683
$GC,1607,-1.75,-97.8,91.3,-6.1,147,1613,0.00,2.45,0.00,0.000,6,0.000,0.039,2507,2053,3683
$GC,1803,-1.75,-97.8,103.1,-6.1,163,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2053,3683
$GC,1992,-1.75,-97.8,115.3,-5.7,178,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2053,3683
$STATE,2093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2093,begin apogee
$GC,2100,-0.42,0.0,120.5,5.3,186,2221,1.48,0.00,116.82,0.656,6,0.113,0.000,2797,2492,3281
$STATE,2223,end apogee,CONTROL_FINISHED_OK
$STATE,2223,begin climb
$GC,2227,1.75,97.8,121.5,0.0,196,2355,2.17,2.75,115.05,0.629,4,0.061,0.079,3282,3888,2881
$GC,2454,1.75,97.8,95.4,14.5,214,2458,0.00,2.45,0.00,0.000,6,0.000,0.039,3282,2499,2881
$GC,2650,1.75,97.8,70.0,12.5,229,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2497,2881
$GC,2841,1.75,97.8,46.6,12.6,244,2845,0.00,2.62,0.00,0.000,4,0.000,0.071,3282,3890,2881
$GC,2913,1.75,97.8,36.5,13.4,249,2917,0.00,2.45,0.00,0.000,6,0.000,0.039,3282,2495,2881
$GC,3112,1.75,97.8,13.2,10.7,269,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2492,2881
$GC,3183,1.75,97.8,5.9,10.1,280,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2492,2882
$STATE,3233,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,0.9,1.020009
$STATE,3270,end surface coast,CONTROL_FINISHED_OK
$STATE,3270,begin surface
$SM_CCo,3299,141.52,0.578,0,0,1648,400.08
$SM_GC,0.81,0.00,0.00,141.52,0.000,0.000,0.578,135,2045,1648,-12.70,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12244.69,230907,060642
$TT8_MAMPS,0.066729
$HUMID,2106
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,186
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.9,11.599
$10V_AH,10.1,6.317
$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,33.975,32.025,231.875,141.525,0.000,78.771,133.020,100.541,47.750,0.000,4085.000,33.614,551.120,1912.734,456.767,566.858,491.708,33.374,779.847,0.000,532.072,0.000,8.792
$DEVICE_MAMPS,211.692,79.001,655.785,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.733,0.000,0.000,0.000,0.000,0.000,0.000,4085.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9590,293
$CFSIZE,260034560,255152128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,032459,4738.634,-12253.112,13,4.6,33,18.3