version: 66.02
glider: 116
mission: 4
dive: 65
start: 9 23 107 5 23 43
data:
$ID,116
$MISSION,4
$DIVE,65
$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,-26414.461
$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,28
$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
$GPS1,051717,4738.438,-12253.266,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.3
$GPS2,052235,4738.454,-12253.250,15,2.1,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.207,0.022
$KALMAN_X,11861.8,-136.6,233.7,-12271.9,160.1
$KALMAN_Y,3558.5,-24.9,231.9,-5502.6,36.5
$MHEAD_RNG_PITCHd_Wd,65.6,1068,-19.6,-8.889
$D_GRID,142
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.75,-97.8,0.0,0.0,0,86,0.00,0.00,-54.50,0.000,2,0.000,0.000,135,2051,2968
$GC,90,-1.75,-97.8,2.1,-4.5,9,134,15.32,2.65,-22.23,0.000,4,0.212,0.070,2508,3461,3681
$GC,386,-1.75,-97.8,19.3,-6.0,54,392,0.00,2.47,0.00,0.000,6,0.000,0.038,2508,2046,3683
$GC,456,-1.75,-97.8,23.7,-6.3,61,460,0.00,2.60,0.00,0.000,4,0.000,0.058,2508,3466,3683
$GC,555,-1.75,-97.8,29.5,-6.0,68,560,0.00,2.50,0.00,0.000,6,0.000,0.038,2508,2043,3683
$GC,751,-1.75,-97.8,40.9,-5.8,83,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2043,3684
$GC,943,-1.75,-97.8,52.2,-6.2,98,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2043,3684
$GC,1132,-1.75,-97.8,63.8,-6.4,113,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2043,3684
$GC,1321,-1.75,-97.8,75.0,-5.7,128,1325,0.00,2.58,0.00,0.000,4,0.000,0.067,2508,651,3683
$GC,1395,-1.75,-97.8,79.5,-5.9,133,1400,0.00,2.47,0.00,0.000,6,0.000,0.040,2507,2059,3684
$GC,1591,-1.75,-97.8,91.8,-6.3,148,1595,0.00,2.60,0.00,0.000,4,0.000,0.063,2508,652,3684
$GC,1666,-1.75,-97.8,96.8,-7.4,153,1670,0.00,2.45,0.00,0.000,6,0.000,0.039,2508,2051,3683
$GC,1861,-1.75,-97.8,109.4,-6.0,168,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2052,3683
$STATE,2052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2052,begin apogee
$GC,2060,-0.42,0.0,120.4,6.0,183,2187,1.48,0.00,116.57,0.661,6,0.113,0.000,2798,2502,3281
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2190,begin climb
$GC,2193,1.75,97.8,121.9,0.0,194,2320,2.17,2.75,114.72,0.631,4,0.061,0.079,3273,3889,2882
$GC,2412,1.75,97.8,98.3,14.1,211,2419,0.00,2.50,0.00,0.000,6,0.000,0.040,3273,2494,2882
$GC,2608,1.75,97.8,73.6,12.7,227,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2492,2882
$GC,2800,1.75,97.8,50.2,12.5,242,2804,0.00,2.62,0.00,0.000,4,0.000,0.071,3273,3887,2881
$GC,2890,1.75,97.8,37.2,13.5,248,2898,0.00,2.47,0.00,0.000,6,0.000,0.039,3273,2494,2881
$GC,3090,1.75,97.8,13.5,10.7,268,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2492,2881
$GC,3161,1.75,97.8,6.0,10.0,279,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2492,2881
$GC,3233,1.89,210.3,2.7,2.0,290,3283,0.15,0.00,46.80,0.597,2,0.060,0.000,3314,2492,2493
$STATE,3284,end climb,SURFACE_DEPTH_REACHED
$STATE,3284,begin surface coast
$FINISH,0.1,1.010517
$STATE,3388,end surface coast,CONTROL_FINISHED_OK
$STATE,3388,begin surface
$SM_CCo,3419,91.95,0.577,0,0,1647,400.08
$SM_GC,0.90,0.00,0.00,91.95,0.000,0.000,0.577,133,2045,1647,-12.71,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,230907,080801
$TT8_MAMPS,0.067496
$HUMID,2126
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.70
$XPDR_PINGS,207
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,11.859
$10V_AH,10.1,6.541
$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,33.600,32.300,278.100,91.950,0.000,39.742,34.402,104.785,53.000,0.000,4025.000,35.050,572.074,1891.577,448.053,579.502,364.797,33.342,782.446,0.000,540.967,0.000,8.790
$DEVICE_MAMPS,211.692,79.001,661.154,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,208.070,0.000,0.000,0.000,0.000,0.000,0.000,4025.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9562,314
$CFSIZE,260034560,255062016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,062323,4738.540,-12252.883,11,2.1,31,18.3