version: 66.02
glider: 116
mission: 4
dive: 30
start: 9 21 107 23 3 30
data:
$ID,116
$MISSION,4
$DIVE,30
$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,-25602.598
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,225738,4739.467,-12252.812,32,1.3,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.0
$GPS2,230221,4739.493,-12252.768,16,1.2,16,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.239,-0.020
$KALMAN_X,5253.6,108.9,56.4,-5132.6,102.7
$KALMAN_Y,2859.1,-161.2,12.0,-2528.0,7.5
$MHEAD_RNG_PITCHd_Wd,247.0,544,-19.5,-10.101
$D_GRID,122
$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,-122.2,0.0,0.0,0,99,0.00,0.00,-66.47,0.000,2,0.000,0.000,133,2061,3223
$GC,103,-1.77,-122.2,2.3,-5.4,11,141,15.02,2.67,-16.38,0.000,4,0.204,0.072,2501,654,3781
$GC,196,-1.77,-122.2,8.9,-9.3,25,202,0.00,2.45,0.00,0.000,6,0.000,0.039,2504,2050,3782
$GC,269,-1.77,-122.2,15.5,-7.7,36,275,0.00,2.58,0.00,0.000,4,0.000,0.064,2502,3448,3782
$GC,340,-1.77,-122.2,21.2,-7.8,46,347,0.00,2.45,0.00,0.000,6,0.000,0.038,2501,2052,3783
$GC,537,-1.77,-122.2,35.8,-7.6,62,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2052,3784
$GC,730,-1.77,-122.2,50.9,-8.5,77,734,0.00,2.58,0.00,0.000,4,0.000,0.064,2502,654,3784
$GC,961,-1.77,-122.2,71.9,-9.0,94,966,0.00,2.47,0.00,0.000,6,0.000,0.040,2502,2058,3784
$GC,1157,-1.77,-122.2,88.2,-8.3,109,1161,0.00,2.60,0.00,0.000,4,0.000,0.062,2502,651,3784
$GC,1263,-1.77,-122.2,97.4,-8.7,116,1270,0.00,2.47,0.00,0.000,6,0.000,0.039,2502,2061,3784
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1300,-0.42,0.0,100.1,8.3,119,1452,1.50,0.00,144.23,0.641,6,0.110,0.000,2798,2494,3281
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1457,1.77,122.2,102.7,0.0,132,1611,2.17,2.70,142.40,0.614,4,0.059,0.080,3282,3887,2782
$GC,1696,1.77,122.2,76.0,15.0,150,1703,0.00,2.47,0.00,0.000,6,0.000,0.039,3282,2502,2781
$GC,1892,1.77,122.2,49.6,13.2,166,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2500,2782
$GC,2085,1.77,122.2,25.7,12.8,181,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2500,2782
$GC,2278,1.77,122.2,3.6,10.3,207,2284,0.00,2.53,0.00,0.000,4,0.000,0.054,3282,1101,2781
$STATE,2295,end climb,SURFACE_DEPTH_REACHED
$STATE,2295,begin surface coast
$FINISH,0.2,1.020786
$STATE,2316,end surface coast,CONTROL_FINISHED_OK
$STATE,2316,begin surface
$SM_CCo,2347,130.88,0.574,0,0,1649,400.08
$SM_GC,0.94,0.00,0.00,130.88,0.000,0.000,0.574,133,2068,1649,-12.71,0.51,400.08
$IRIDIUM_FIX,4722.92,-12256.21,220907,020245
$TT8_MAMPS,0.067496
$HUMID,2106
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.70
$XPDR_PINGS,130
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.9,8.282
$10V_AH,10.0,4.186
$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,33.225,30.500,286.625,130.875,0.000,41.212,33.145,92.436,33.250,0.000,2893.000,16.139,402.028,1158.771,494.953,413.065,322.308,33.335,759.655,0.000,397.146,0.000,5.670
$DEVICE_MAMPS,204.022,79.768,641.212,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.598,0.000,0.000,0.000,0.000,0.000,0.000,2893.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,213
$CFSIZE,260034560,256159744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,234559,4739.467,-12253.048,14,2.2,33,18.3