version: 66.02
glider: 116
mission: 4
dive: 13
start: 9 21 107 9 57 35
data:
$ID,116
$MISSION,4
$DIVE,13
$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,-25190.738
$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,24
$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
$GPS1,095115,4739.235,-12251.437,13,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.0
$GPS2,095626,4739.265,-12251.392,10,1.6,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,-0.101
$KALMAN_X,2481.7,585.5,198.8,-1267.1,124.4
$KALMAN_Y,2178.2,590.5,94.2,-3103.4,2.3
$MHEAD_RNG_PITCHd_Wd,226.7,904,-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,27,begin dive
$GC,31,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.60,0.000,2,0.000,0.000,135,2250,3103
$GC,97,-1.77,-122.2,2.3,-5.0,10,140,15.15,2.60,-20.00,0.000,4,0.203,0.069,2502,843,3782
$GC,391,-1.77,-122.2,26.1,-8.2,49,398,0.00,2.53,0.00,0.000,6,0.000,0.040,2502,2258,3784
$GC,588,-1.77,-122.2,42.0,-8.3,65,592,0.00,2.60,0.00,0.000,4,0.000,0.056,2502,847,3784
$GC,766,-1.77,-122.2,57.6,-8.6,78,771,0.00,2.53,0.00,0.000,6,0.000,0.041,2502,2260,3784
$GC,962,-1.77,-122.2,74.0,-8.3,93,966,0.00,2.60,0.00,0.000,4,0.000,0.056,2502,846,3784
$GC,1140,-1.77,-122.2,90.0,-8.9,106,1148,0.00,2.50,0.00,0.000,6,0.000,0.041,2502,2251,3784
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1275,-0.42,0.0,100.9,8.4,116,1428,1.50,0.00,144.93,0.644,6,0.109,0.000,2797,2452,3281
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1432,1.77,122.2,104.0,0.0,129,1585,2.20,2.72,142.57,0.620,4,0.058,0.080,3277,3851,2781
$GC,1736,1.77,122.2,71.0,14.1,152,1744,0.00,2.53,0.00,0.000,6,0.000,0.040,3277,2447,2782
$GC,1933,1.77,122.2,45.9,12.6,168,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2444,2782
$GC,2126,1.77,122.2,22.7,12.5,183,2130,0.00,2.67,0.00,0.000,4,0.000,0.071,3277,3853,2781
$GC,2244,1.77,122.2,6.6,12.9,199,2250,0.00,2.50,0.00,0.000,6,0.000,0.041,3277,2440,2781
$STATE,2294,end climb,SURFACE_DEPTH_REACHED
$STATE,2294,begin surface coast
$FINISH,0.2,1.020710
$STATE,2323,end surface coast,CONTROL_FINISHED_OK
$STATE,2323,begin surface
$SM_CCo,2352,131.75,0.578,0,0,1649,400.08
$SM_GC,0.90,0.00,0.00,131.75,0.000,0.000,0.578,133,2238,1649,-12.71,-0.34,400.08
$IRIDIUM_FIX,4719.74,-12251.79,210907,131311
$TT8_MAMPS,0.06903
$HUMID,2103
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,93
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.3,6.563
$10V_AH,10.0,3.166
$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,33.400,26.500,287.500,131.750,0.000,37.407,35.150,120.687,24.000,111.940,2806.060,15.617,396.771,1163.696,487.523,430.147,346.567,33.331,756.532,0.000,414.854,0.000,5.678
$DEVICE_MAMPS,203.255,79.768,643.513,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.591,0.000,0.000,0.000,0.000,0.000,0.000,2918.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,211
$CFSIZE,260034560,256647168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,103950,4739.210,-12251.454,9,1.6,14,18.3