version: 66.02
glider: 116
mission: 4
dive: 31
start: 9 21 107 23 52 13
data:
$ID,116
$MISSION,4
$DIVE,31
$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,-25637.984
$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
$GPS1,234559,4739.467,-12253.048,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.1
$GPS2,235105,4739.498,-12253.006,14,2.2,33,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,-0.045
$KALMAN_X,5372.9,92.3,119.7,-5596.1,87.6
$KALMAN_Y,2896.5,-168.4,24.8,-2561.4,32.8
$MHEAD_RNG_PITCHd_Wd,236.7,251,-27.3,-10.101
$D_GRID,117
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.35,-64.0,0.0,0.0,0,98,0.00,0.00,-66.60,0.000,2,0.000,0.000,134,2068,3224
$GC,102,-2.41,-111.5,2.2,-5.1,11,140,14.35,2.62,-15.85,0.000,4,0.209,0.071,2365,654,3736
$GC,147,-2.42,-122.2,4.8,-5.3,18,154,0.00,2.47,-1.17,0.000,6,0.000,0.039,2365,2056,3781
$GC,220,-2.42,-122.2,13.4,-13.3,29,226,0.00,2.60,0.00,0.000,4,0.000,0.061,2365,652,3781
$GC,477,-2.42,-122.2,44.0,-12.3,52,484,0.00,2.45,0.00,0.000,6,0.000,0.038,2365,2047,3783
$GC,673,-2.42,-122.2,68.1,-12.4,68,677,0.00,2.58,0.00,0.000,4,0.000,0.061,2365,653,3783
$GC,878,-2.42,-122.2,93.1,-12.1,83,882,0.00,2.47,0.00,0.000,6,0.000,0.039,2365,2059,3783
$STATE,945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,945,begin apogee
$GC,953,-0.42,0.0,100.9,11.2,88,1104,2.22,0.00,143.88,0.638,6,0.123,0.000,2799,2494,3281
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1110,2.42,122.2,102.9,0.0,101,1264,2.83,2.78,142.45,0.612,4,0.056,0.079,3427,3891,2782
$GC,1402,2.42,122.2,55.2,20.6,123,1409,0.00,2.50,0.00,0.000,6,0.000,0.040,3427,2498,2782
$GC,1599,2.42,122.2,18.0,18.0,139,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2495,2781
$GC,1671,2.42,122.2,6.0,15.2,150,1677,0.00,2.62,0.00,0.000,4,0.000,0.070,3427,3890,2781
$GC,1684,2.42,122.2,3.8,15.5,152,1690,0.00,2.45,0.00,0.000,6,0.000,0.040,3427,2496,2781
$STATE,1694,end climb,SURFACE_DEPTH_REACHED
$STATE,1694,begin surface coast
$FINISH,0.6,1.021459
$STATE,1702,end surface coast,CONTROL_FINISHED_OK
$STATE,1702,begin surface
$SM_CCo,1734,123.95,0.563,0,0,1650,400.08
$SM_GC,0.84,0.00,0.00,123.95,0.000,0.000,0.563,134,2045,1650,-12.70,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,220907,020244
$TT8_MAMPS,0.067496
$HUMID,2076
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,77
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,8.368
$10V_AH,10.0,4.238
$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,34.600,27.150,286.325,123.950,0.000,39.924,34.072,96.456,20.000,0.000,2307.000,34.757,299.677,733.637,488.631,361.579,308.593,33.328,720.733,0.000,325.319,0.000,5.667
$DEVICE_MAMPS,209.391,79.001,638.144,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.028,0.000,0.000,0.000,0.000,0.000,0.000,2307.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3301,155
$CFSIZE,260034560,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,002357,4739.413,-12253.210,9,1.3,9,18.3