version: 66.02
glider: 116
mission: 4
dive: 25
start: 9 21 107 19 20 32
data:
$ID,116
$MISSION,4
$DIVE,25
$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,-25494.855
$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,25
$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
$GPS1,191415,4739.473,-12252.091,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.3
$GPS2,191921,4739.492,-12252.036,12,1.9,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,-0.041
$KALMAN_X,4299.1,265.3,-186.4,-3184.5,-68.0
$KALMAN_Y,2895.5,-31.2,-96.9,-2588.6,37.3
$MHEAD_RNG_PITCHd_Wd,239.8,458,-24.2,-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,-2.12,-80.7,0.0,0.0,0,90,0.00,0.00,-60.55,0.000,2,0.000,0.000,133,2040,3092
$GC,94,-2.17,-122.2,2.1,-4.2,10,137,14.50,2.60,-20.58,0.000,4,0.204,0.074,2417,649,3781
$GC,159,-2.17,-122.2,6.3,-8.0,20,166,0.00,2.50,0.00,0.000,6,0.000,0.038,2417,2065,3782
$GC,232,-2.17,-122.2,12.9,-9.4,31,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2065,3782
$GC,304,-2.17,-122.2,19.0,-8.6,42,311,0.00,2.62,0.00,0.000,4,0.000,0.061,2417,648,3782
$GC,423,-2.17,-122.2,31.0,-10.1,52,428,0.00,2.47,0.00,0.000,6,0.000,0.039,2417,2051,3783
$GC,619,-2.17,-122.2,50.5,-10.5,67,623,0.00,2.60,0.00,0.000,4,0.000,0.063,2417,650,3784
$GC,862,-2.17,-122.2,77.7,-10.9,85,867,0.00,2.47,0.00,0.000,6,0.000,0.039,2417,2053,3784
$GC,1060,-2.17,-122.2,97.1,-9.9,100,1064,0.00,2.60,0.00,0.000,4,0.000,0.063,2417,651,3784
$STATE,1093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1093,begin apogee
$GC,1102,-0.42,0.0,100.6,10.1,102,1253,1.95,0.00,144.02,0.636,6,0.116,0.000,2803,2494,3281
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1257,begin climb
$GC,1259,2.17,122.2,102.8,0.0,115,1413,2.55,2.72,142.20,0.610,4,0.056,0.080,3370,3891,2782
$GC,1539,2.17,122.2,63.1,17.4,136,1545,0.00,2.47,0.00,0.000,6,0.000,0.040,3370,2491,2782
$GC,1734,2.17,122.2,30.8,16.7,152,1739,0.00,2.65,0.00,0.000,4,0.000,0.073,3370,3889,2782
$GC,1767,2.17,122.2,24.8,18.5,154,1771,0.00,2.45,0.00,0.000,6,0.000,0.040,3370,2497,2781
$STATE,1908,end climb,SURFACE_DEPTH_REACHED
$STATE,1908,begin surface coast
$FINISH,0.3,1.020824
$STATE,1923,end surface coast,CONTROL_FINISHED_OK
$STATE,1923,begin surface
$SM_CCo,1954,129.25,0.567,0,0,1650,400.08
$SM_GC,0.87,0.00,0.00,129.25,0.000,0.000,0.567,134,2055,1650,-12.70,0.14,400.08
$IRIDIUM_FIX,4722.92,-12253.53,151296,181859
$TT8_MAMPS,0.067496
$HUMID,2082
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,85
$ALTIM_TOP_PING,9.4,999.0
$24V_AH,23.9,7.828
$10V_AH,10.0,3.888
$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,33.750,32.325,286.225,129.250,0.000,39.849,30.183,121.745,22.000,0.000,2529.000,12.621,342.293,882.520,488.805,372.590,335.512,33.326,735.421,0.000,356.714,0.000,5.669
$DEVICE_MAMPS,204.022,79.768,635.843,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.971,0.000,0.000,0.000,0.000,0.000,0.000,2529.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,175
$CFSIZE,260034560,256311296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,195623,4739.421,-12252.251,11,2.6,30,18.3