version: 66.02
glider: 116
mission: 4
dive: 11
start: 9 21 107 8 21 1
data:
$ID,116
$MISSION,4
$DIVE,11
$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,-25159.766
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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
$GPS1,081414,4739.303,-12251.385,7,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.8
$GPS2,081950,4739.342,-12251.358,12,1.3,17,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,-0.134
$KALMAN_X,1848.3,618.2,144.3,-573.2,76.3
$KALMAN_Y,1799.8,650.6,105.6,-2656.0,13.7
$MHEAD_RNG_PITCHd_Wd,217.7,1021,-19.5,-10.101
$D_GRID,121
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.77,-122.2,0.0,0.0,0,91,0.00,0.00,-60.40,0.000,2,0.000,0.000,133,2296,3097
$GC,95,-1.77,-122.2,2.3,-5.2,10,138,15.20,2.60,-19.48,0.000,4,0.204,0.067,2503,899,3781
$GC,344,-1.77,-122.2,21.9,-7.6,47,348,0.00,2.50,0.00,0.000,6,0.000,0.040,2503,2300,3783
$GC,540,-1.77,-122.2,37.4,-8.2,62,544,0.00,2.58,0.00,0.000,4,0.000,0.054,2503,892,3784
$GC,758,-1.77,-122.2,56.9,-8.9,78,762,0.00,2.50,0.00,0.000,6,0.000,0.040,2504,2301,3784
$GC,960,-1.77,-122.2,74.1,-8.5,94,964,0.00,2.58,0.00,0.000,4,0.000,0.054,2503,900,3783
$GC,1131,-1.77,-122.2,89.3,-8.9,106,1138,0.00,2.50,0.00,0.000,6,0.000,0.041,2503,2304,3785
$STATE,1264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1264,begin apogee
$GC,1270,-0.42,0.0,100.9,8.9,117,1421,1.50,0.00,143.98,0.643,6,0.108,0.000,2798,2413,3281
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1427,1.77,122.2,104.2,0.0,130,1581,2.20,2.67,142.40,0.617,4,0.058,0.074,3287,3801,2781
$GC,1745,1.77,122.2,69.0,14.3,154,1752,0.00,2.53,0.00,0.000,6,0.000,0.041,3287,2399,2781
$GC,1942,1.77,122.2,43.4,12.7,170,1946,0.00,2.65,0.00,0.000,4,0.000,0.068,3288,3804,2781
$GC,2014,1.77,122.2,33.3,14.6,175,2018,0.00,2.53,0.00,0.000,6,0.000,0.040,3287,2391,2781
$GC,2214,1.77,122.2,7.6,11.8,197,2220,0.00,2.65,0.00,0.000,4,0.000,0.066,3287,3802,2781
$STATE,2264,end climb,SURFACE_DEPTH_REACHED
$STATE,2264,begin surface coast
$FINISH,0.6,1.020694
$STATE,2287,end surface coast,CONTROL_FINISHED_OK
$STATE,2287,begin surface
$SM_CCo,2318,132.70,0.577,0,0,1650,400.08
$SM_GC,0.93,0.00,0.00,132.70,0.000,0.000,0.577,135,2291,1650,-12.70,-0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,210907,111152
$TT8_MAMPS,0.067496
$HUMID,2097
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,55
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.3,6.319
$10V_AH,10.0,3.041
$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,33.450,31.200,286.375,132.700,0.000,37.138,31.706,134.114,14.500,111.050,2792.950,17.471,393.500,1134.547,487.885,434.290,364.878,33.321,758.705,0.000,416.871,0.000,5.671
$DEVICE_MAMPS,204.022,74.399,642.746,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.492,0.000,0.000,0.000,0.000,0.000,0.000,2904.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,208
$CFSIZE,260034560,256704512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,090307,4739.259,-12251.411,35,1.1,39,18.3