version: 66.02
glider: 116
mission: 4
dive: 23
start: 9 21 107 17 51 14
data:
$ID,116
$MISSION,4
$DIVE,23
$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,-25448.498
$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,2050
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,174429,4739.463,-12252.685,7,2.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.7
$GPS2,175004,4739.478,-12252.641,12,2.2,31,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,0.059
$KALMAN_X,4080.0,386.6,-77.6,-3937.2,-188.0
$KALMAN_Y,2649.9,65.5,-62.2,-2498.0,-134.7
$MHEAD_RNG_PITCHd_Wd,57.5,299,-19.5,-10.101
$D_GRID,124
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.77,-122.2,0.0,0.0,0,90,0.00,0.00,-60.53,0.000,2,0.000,0.000,134,2150,3093
$GC,94,-1.77,-122.2,2.2,-4.9,10,138,14.95,2.42,-21.08,0.000,4,0.201,0.074,2506,3461,3781
$GC,388,-1.77,-122.2,25.5,-8.1,50,395,0.00,2.50,0.00,0.000,6,0.000,0.038,2509,2035,3783
$GC,585,-1.77,-122.2,41.1,-8.1,66,589,0.00,2.62,0.00,0.000,4,0.000,0.063,2506,3455,3783
$GC,671,-1.77,-122.2,48.3,-8.5,72,675,0.00,2.47,0.00,0.000,6,0.000,0.039,2506,2047,3783
$GC,866,-1.77,-122.2,64.7,-8.7,87,871,0.00,2.58,0.00,0.000,4,0.000,0.065,2506,656,3783
$GC,1010,-1.77,-122.2,77.7,-8.8,97,1017,0.00,2.47,0.00,0.000,6,0.000,0.039,2506,2044,3783
$GC,1207,-1.77,-122.2,93.7,-8.1,113,1211,0.00,2.58,0.00,0.000,4,0.000,0.062,2506,655,3783
$STATE,1278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1287,-0.42,0.0,100.3,9.2,118,1438,1.48,0.00,143.95,0.639,6,0.110,0.000,2797,2498,3281
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1444,1.77,122.2,103.4,0.0,131,1597,2.20,2.70,142.38,0.614,4,0.058,0.080,3287,3888,2782
$GC,1695,1.77,122.2,76.5,14.7,150,1703,0.00,2.47,0.00,0.000,6,0.000,0.040,3287,2503,2782
$GC,1892,1.77,122.2,50.2,13.2,166,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2502,2782
$GC,2083,1.77,122.2,25.1,12.7,181,2087,0.00,2.62,0.00,0.000,4,0.000,0.074,3287,3888,2782
$GC,2169,1.77,122.2,12.7,14.1,190,2175,0.00,2.45,0.00,0.000,6,0.000,0.040,3288,2491,2782
$GC,2243,1.80,146.2,4.8,8.8,201,2267,0.00,0.00,19.20,0.616,6,0.000,0.000,3287,2488,2684
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,0.2,1.010094
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2360,115.95,0.571,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,115.95,0.000,0.000,0.571,132,2042,1649,-12.71,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,210907,212139
$TT8_MAMPS,0.066729
$HUMID,2086
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,120
$ALTIM_TOP_PING,9.3,999.0
$24V_AH,23.4,7.656
$10V_AH,10.0,3.779
$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,33.000,32.050,305.525,115.950,0.000,40.308,31.464,124.615,30.750,0.000,2968.000,32.824,398.272,1155.801,492.938,445.492,350.020,33.331,766.776,0.000,411.054,0.000,5.670
$DEVICE_MAMPS,200.954,79.768,638.911,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.671,0.000,0.000,0.000,0.000,0.000,0.000,2968.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,215
$CFSIZE,260034560,256356352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,183320,4739.542,-12252.359,8,1.6,13,18.3