version: 66.02
glider: 116
mission: 4
dive: 24
start: 9 21 107 18 39 33
data:
$ID,116
$MISSION,4
$DIVE,24
$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,-25481.605
$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,28
$R_STBD_OVSHOOT,18
$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
$GPS1,183320,4739.542,-12252.359,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.0
$GPS2,183823,4739.562,-12252.315,12,3.2,31,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.128
$KALMAN_X,4104.2,333.8,-128.4,-3460.7,-200.4
$KALMAN_Y,2744.6,11.4,-88.2,-2360.1,-69.2
$MHEAD_RNG_PITCHd_Wd,118.9,206,-27.3,-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,-2.35,-64.0,0.0,0.0,0,96,0.00,0.00,-66.50,0.000,2,0.000,0.000,132,2042,3247
$GC,100,-2.40,-104.8,2.4,-5.8,11,137,14.32,2.67,-12.43,0.000,4,0.208,0.073,2368,3461,3710
$GC,389,-2.40,-106.9,32.2,-9.9,46,393,0.00,2.47,0.00,0.000,6,0.000,0.038,2368,2051,3712
$GC,584,-2.40,-106.9,51.5,-10.4,61,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2051,3713
$GC,777,-2.40,-106.9,71.3,-10.6,76,781,0.00,2.60,0.00,0.000,4,0.000,0.066,2368,648,3713
$GC,947,-2.40,-106.9,91.8,-11.5,88,954,0.00,2.53,0.00,0.000,6,0.000,0.039,2368,2064,3713
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1036,-0.42,0.0,100.4,10.5,95,1165,2.20,0.00,123.80,0.638,6,0.122,0.000,2798,2500,3283
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1170,2.40,106.9,103.7,0.0,106,1307,2.80,2.67,124.53,0.613,4,0.055,0.077,3421,3884,2845
$GC,1499,2.40,106.9,52.0,19.3,131,1505,0.00,2.45,0.00,0.000,6,0.000,0.039,3421,2494,2845
$GC,1695,2.40,106.9,16.9,16.7,148,1702,0.00,2.62,0.00,0.000,4,0.000,0.071,3421,3884,2845
$STATE,1812,end climb,SURFACE_DEPTH_REACHED
$STATE,1812,begin surface coast
$FINISH,0.3,1.020813
$STATE,1852,end surface coast,CONTROL_FINISHED_OK
$STATE,1853,begin surface
$SM_CCo,1886,145.85,0.569,0,0,1649,400.08
$SM_GC,0.93,0.00,0.00,145.85,0.000,0.000,0.569,133,2040,1649,-12.71,-0.28,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,212131
$TT8_MAMPS,0.067496
$HUMID,2089
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,90
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.9,7.739
$10V_AH,10.0,3.832
$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,34.300,22.150,248.325,145.850,0.000,40.560,23.716,104.109,23.250,0.000,2422.000,32.479,328.667,893.324,465.550,374.672,303.385,33.326,688.131,0.000,339.356,0.000,5.669
$DEVICE_MAMPS,207.857,76.700,638.144,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.333,0.000,0.000,0.000,0.000,0.000,0.000,2422.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3302,172
$CFSIZE,260034560,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,191415,4739.473,-12252.091,13,1.9,13,18.3