version: 66.02
glider: 116
mission: 4
dive: 5
start: 9 21 107 2 17 5
data:
$ID,116
$MISSION,4
$DIVE,5
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,60
$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,125
$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,-24880.732
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2885
$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,2385
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$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
$GPS1,021028,4739.634,-12252.200,7,3.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.6
$GPS2,021557,4739.638,-12252.218,13,1.6,13,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.237
$KALMAN_X,333.6,183.5,155.2,301.3,14.6
$KALMAN_Y,503.2,268.0,207.6,-536.1,73.1
$MHEAD_RNG_PITCHd_Wd,152.4,1213,-19.5,-10.101
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.77,-122.2,0.0,0.0,0,110,0.00,0.00,-78.43,0.000,2,0.000,0.000,130,2366,3134
$GC,114,-1.77,-122.2,2.0,-4.0,13,157,14.95,2.55,-19.38,0.000,4,0.201,0.063,2493,988,3782
$GC,408,-1.77,-122.2,26.4,-7.9,52,415,0.00,2.47,0.00,0.000,6,0.000,0.039,2493,2387,3783
$GC,605,-1.77,-122.2,42.4,-8.5,68,609,0.00,2.55,0.00,0.000,4,0.000,0.053,2496,986,3783
$GC,862,-1.77,-122.2,65.9,-9.2,87,867,0.00,2.50,0.00,0.000,6,0.000,0.041,2493,2388,3784
$GC,1058,-1.77,-122.2,83.2,-8.9,102,1062,0.00,2.58,0.00,0.000,4,0.000,0.054,2493,983,3784
$STATE,1235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1235,begin apogee
$GC,1243,-0.42,0.0,100.2,9.1,115,1394,1.50,0.00,143.73,0.639,6,0.107,0.000,2789,2331,3281
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1400,1.77,122.2,103.9,0.0,128,1554,2.17,2.67,142.12,0.613,4,0.058,0.072,3273,3731,2781
$GC,1807,1.77,122.2,58.2,13.4,159,1812,0.00,2.50,0.00,0.000,6,0.000,0.041,3273,2330,2781
$GC,2003,1.77,122.2,33.1,12.3,174,2007,0.00,2.65,0.00,0.000,4,0.000,0.067,3273,3737,2781
$GC,2260,1.88,207.2,2.1,5.4,205,2267,0.00,2.50,2.65,0.704,2,0.000,0.040,3273,2330,2766
$STATE,2268,end climb,SURFACE_DEPTH_REACHED
$STATE,2268,begin surface coast
$FINISH,0.2,1.016371
$STATE,2300,end surface coast,CONTROL_FINISHED_OK
$STATE,2300,begin surface
$SM_CCo,2330,122.70,0.574,0,0,1650,400.08
$SM_GC,0.79,0.00,0.00,122.70,0.000,0.000,0.574,131,2389,1650,-12.67,0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,060603
$TT8_MAMPS,0.067496
$HUMID,2118
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.90
$XPDR_PINGS,15
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.3,5.513
$10V_AH,10.0,2.576
$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,33.125,25.550,288.500,122.700,0.000,0.000,0.000,0.000,4.500,111.100,2376.900,13.749,392.007,1110.688,487.008,445.663,106.655,33.330,764.266,0.000,442.313,0.000,5.670
$DEVICE_MAMPS,200.954,77.467,704.106,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.301,0.000,0.000,0.000,0.000,0.000,0.000,2488.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,211
$CFSIZE,260034560,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,025905,4739.679,-12251.852,10,2.2,29,18.3