version: 66.02
glider: 116
mission: 4
dive: 12
start: 9 21 107 9 9 24
data:
$ID,116
$MISSION,4
$DIVE,12
$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,-25174.494
$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,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$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
$GPS1,090307,4739.259,-12251.411,35,1.1,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.1
$GPS2,090815,4739.296,-12251.361,14,1.2,14,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.122
$KALMAN_X,2167.0,609.6,162.3,-903.4,108.7
$KALMAN_Y,1990.6,624.1,89.9,-2887.5,34.3
$MHEAD_RNG_PITCHd_Wd,221.1,968,-19.5,-10.101
$D_GRID,122
$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,27,begin dive
$GC,31,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.67,0.000,2,0.000,0.000,135,2291,3106
$GC,97,-1.77,-122.2,2.2,-5.2,10,140,15.50,2.67,-18.73,0.000,4,0.208,0.067,2504,852,3781
$GC,273,-1.77,-122.2,16.7,-8.7,37,280,0.00,2.50,0.00,0.000,6,0.000,0.039,2504,2258,3783
$GC,345,-1.77,-122.2,22.2,-7.8,46,349,0.00,2.58,0.00,0.000,4,0.000,0.054,2503,849,3783
$GC,429,-1.77,-122.2,29.4,-8.7,52,436,0.00,2.47,0.00,0.000,6,0.000,0.038,2504,2251,3784
$GC,626,-1.77,-122.2,45.9,-8.9,68,630,0.00,2.58,0.00,0.000,4,0.000,0.056,2504,851,3784
$GC,805,-1.77,-122.2,62.0,-8.6,81,809,0.00,2.50,0.00,0.000,6,0.000,0.041,2504,2255,3784
$GC,1000,-1.77,-122.2,78.6,-8.5,96,1004,0.00,2.60,0.00,0.000,4,0.000,0.057,2504,846,3784
$GC,1172,-1.77,-122.2,93.7,-8.6,109,1176,0.00,2.50,0.00,0.000,6,0.000,0.041,2507,2249,3784
$STATE,1252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1252,begin apogee
$GC,1259,-0.42,0.0,101.0,8.7,115,1410,1.50,0.00,144.73,0.643,6,0.109,0.000,2798,2452,3280
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1416,1.77,122.2,104.3,0.0,128,1570,2.25,2.72,142.48,0.619,4,0.058,0.079,3281,3851,2781
$GC,1691,1.77,122.2,76.4,14.8,149,1695,0.00,2.50,0.00,0.000,6,0.000,0.041,3282,2441,2781
$GC,1893,1.77,122.2,49.3,12.8,165,1897,0.00,2.67,0.00,0.000,4,0.000,0.071,3281,3850,2781
$GC,1944,1.77,122.2,42.1,14.0,168,1951,0.00,2.53,0.00,0.000,6,0.000,0.040,3281,2443,2781
$GC,2141,1.77,122.2,17.2,12.7,185,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2441,2781
$GC,2215,1.77,122.2,8.5,11.4,196,2221,0.00,2.67,0.00,0.000,4,0.000,0.071,3281,3856,2781
$STATE,2271,end climb,SURFACE_DEPTH_REACHED
$STATE,2271,begin surface coast
$FINISH,0.4,1.020735
$STATE,2296,end surface coast,CONTROL_FINISHED_OK
$STATE,2296,begin surface
$SM_CCo,2327,133.32,0.578,0,0,1650,400.08
$SM_GC,0.96,0.00,0.00,133.32,0.000,0.000,0.578,134,2250,1650,-12.70,0.00,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,121232
$TT8_MAMPS,0.069797
$HUMID,2107
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.60
$XPDR_PINGS,88
$ALTIM_TOP_PING,9.3,999.0
$24V_AH,23.3,6.441
$10V_AH,10.0,3.104
$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,33.875,36.775,287.200,133.325,0.000,37.561,36.745,119.382,22.750,111.040,2799.960,14.100,397.741,1127.952,496.319,426.083,350.227,33.323,771.579,0.000,411.066,0.000,5.673
$DEVICE_MAMPS,207.857,79.001,642.746,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.302,0.000,0.000,0.000,0.000,0.000,0.000,2911.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,208
$CFSIZE,260034560,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,095115,4739.235,-12251.437,13,1.5,13,18.3