version: 66.02
glider: 116
mission: 4
dive: 18
start: 9 21 107 14 0 48
data:
$ID,116
$MISSION,4
$DIVE,18
$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,-25303.691
$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,2200
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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
$GPS1,135432,4739.043,-12251.722,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.2
$GPS2,135939,4739.057,-12251.687,15,2.0,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,-0.038
$KALMAN_X,4009.9,630.0,262.0,-3270.1,45.4
$KALMAN_Y,2841.2,395.0,73.6,-3933.6,-29.0
$MHEAD_RNG_PITCHd_Wd,241.7,405,-21.3,-10.101
$D_GRID,126
$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,-1.90,-103.0,0.0,0.0,0,87,0.00,0.00,-54.55,0.000,2,0.000,0.000,133,2247,2938
$GC,91,-1.93,-122.2,2.0,-4.1,9,141,15.12,2.53,-27.38,0.000,4,0.204,0.077,2471,3605,3780
$GC,162,-1.93,-122.2,6.1,-10.1,20,169,0.00,2.47,0.00,0.000,6,0.000,0.038,2472,2197,3781
$GC,235,-1.93,-122.2,13.0,-9.5,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2197,3782
$GC,308,-1.93,-122.2,19.2,-8.4,42,314,0.00,2.55,0.00,0.000,4,0.000,0.060,2472,803,3782
$GC,374,-1.93,-122.2,25.0,-8.8,48,378,0.00,2.47,0.00,0.000,6,0.000,0.039,2472,2207,3782
$GC,576,-1.93,-122.2,42.4,-9.1,64,581,0.00,2.67,0.00,0.000,4,0.000,0.058,2472,795,3783
$GC,755,-1.93,-122.2,59.7,-9.7,77,759,0.00,2.53,0.00,0.000,6,0.000,0.040,2472,2201,3783
$GC,951,-1.93,-122.2,77.5,-9.2,92,955,0.00,2.60,0.00,0.000,4,0.000,0.058,2472,796,3782
$GC,1108,-1.93,-122.2,92.8,-9.4,103,1115,0.00,2.50,0.00,0.000,6,0.000,0.040,2472,2204,3783
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1189,begin apogee
$GC,1196,-0.42,0.0,100.4,9.2,110,1348,1.67,0.00,144.35,0.639,6,0.109,0.000,2799,2448,3280
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1353,1.93,122.2,103.0,0.0,123,1507,2.35,2.72,142.12,0.616,4,0.058,0.080,3318,3848,2782
$GC,1620,1.93,122.2,72.1,15.2,143,1626,0.00,2.47,0.00,0.000,6,0.000,0.041,3318,2451,2782
$GC,1816,1.93,122.2,43.5,14.6,159,1820,0.00,2.67,0.00,0.000,4,0.000,0.072,3318,3855,2782
$GC,1901,1.93,122.2,30.2,16.2,165,1905,0.00,2.50,0.00,0.000,6,0.000,0.041,3318,2453,2782
$GC,2102,1.94,134.9,4.3,9.3,189,2120,0.00,2.62,10.12,0.637,4,0.000,0.056,3319,1049,2730
$STATE,2131,end climb,SURFACE_DEPTH_REACHED
$STATE,2131,begin surface coast
$FINISH,0.3,1.020486
$STATE,2161,end surface coast,CONTROL_FINISHED_OK
$STATE,2161,begin surface
$SM_CCo,2191,122.43,0.572,0,0,1650,400.08
$SM_GC,1.03,0.00,0.00,122.43,0.000,0.000,0.572,133,2209,1650,-12.71,0.23,400.08
$IRIDIUM_FIX,4722.92,-12249.11,210907,171709
$TT8_MAMPS,0.066729
$HUMID,2098
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,105
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.3,7.170
$10V_AH,10.0,3.476
$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,33.850,35.875,296.600,122.425,0.000,40.620,35.599,116.838,27.000,105.190,2641.810,15.381,376.869,1019.500,495.592,412.039,345.581,33.322,764.716,0.000,394.498,0.000,5.670
$DEVICE_MAMPS,204.022,79.768,638.911,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.114,0.000,0.000,0.000,0.000,0.000,0.000,2747.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,198
$CFSIZE,260034560,256503808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,144029,4738.970,-12251.946,11,3.4,30,18.3