version: 66.02
glider: 116
mission: 4
dive: 6
start: 9 21 107 3 7 6
data:
$ID,116
$MISSION,4
$DIVE,6
$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,-24896.59
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,025905,4739.679,-12251.852,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.4
$GPS2,030557,4739.722,-12251.843,15,1.6,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,-0.237
$KALMAN_X,488.5,311.1,197.0,437.0,27.3
$KALMAN_Y,807.5,443.3,263.4,-918.0,155.6
$MHEAD_RNG_PITCHd_Wd,170.4,1351,-19.5,-10.101
$D_GRID,123
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.55,0.000,2,0.000,0.000,130,2389,3072
$GC,97,-1.77,-122.2,2.1,-4.3,10,141,15.18,2.58,-21.85,0.000,4,0.204,0.064,2495,981,3780
$GC,320,-1.77,-122.2,19.8,-7.2,44,326,0.00,2.50,0.00,0.000,6,0.000,0.040,2495,2389,3781
$GC,389,-1.77,-122.2,24.7,-6.9,50,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2389,3782
$GC,580,-1.77,-122.2,40.4,-8.9,65,585,0.00,2.60,0.00,0.000,4,0.000,0.054,2495,974,3782
$GC,680,-1.77,-122.2,49.7,-9.6,72,684,0.00,2.53,0.00,0.000,6,0.000,0.041,2495,2390,3782
$GC,875,-1.77,-122.2,66.9,-8.8,87,879,0.00,2.58,0.00,0.000,4,0.000,0.054,2495,975,3782
$GC,1133,-1.77,-122.2,90.3,-9.0,106,1139,0.00,2.53,0.00,0.000,6,0.000,0.042,2495,2389,3782
$STATE,1251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1251,begin apogee
$GC,1258,-0.42,0.0,100.7,8.8,116,1409,1.50,0.00,143.40,0.640,6,0.108,0.000,2789,2325,3281
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1415,1.77,122.2,103.5,0.0,129,1568,2.22,2.70,142.12,0.617,4,0.058,0.071,3270,3733,2781
$GC,1767,1.77,122.2,64.5,13.9,156,1771,0.00,2.53,0.00,0.000,6,0.000,0.041,3270,2330,2781
$GC,1963,1.77,122.2,39.9,12.2,171,1967,0.00,2.65,0.00,0.000,4,0.000,0.067,3270,3740,2781
$GC,2090,1.77,122.2,23.4,13.6,180,2094,0.00,2.50,0.00,0.000,6,0.000,0.040,3270,2329,2781
$GC,2294,1.86,196.5,2.1,6.0,209,2301,0.00,0.00,5.10,0.671,2,0.000,0.000,3270,2328,2753
$STATE,2302,end climb,SURFACE_DEPTH_REACHED
$STATE,2302,begin surface coast
$FINISH,0.2,1.010083
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2365,124.65,0.577,0,0,1649,400.08
$SM_GC,0.97,0.00,0.00,124.65,0.000,0.000,0.577,128,2391,1649,-12.68,0.17,400.08
$IRIDIUM_FIX,4722.92,-12249.11,210907,060604
$TT8_MAMPS,0.067496
$HUMID,2138
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.80
$XPDR_PINGS,56
$ALTIM_TOP_PING,9.3,999.0
$24V_AH,23.8,5.638
$10V_AH,10.0,2.642
$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,33.450,25.925,290.625,124.650,0.000,38.701,40.371,195.314,14.750,111.920,2922.080,15.227,406.916,1152.317,478.453,449.958,442.601,33.326,755.312,0.000,429.021,0.000,5.673
$DEVICE_MAMPS,204.022,72.098,671.125,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.227,0.000,0.000,0.000,0.000,0.000,0.000,3034.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,215
$CFSIZE,260034560,256856064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,034926,4739.559,-12251.697,9,1.4,14,18.3