version: 66.02
glider: 116
mission: 4
dive: 1
start: 9 20 107 22 49 9
data:
$ID,116
$MISSION,4
$DIVE,1
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24652.592
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2285
$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,2375
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,224057,4739.368,-12253.061,14,1.3,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-57.7
$GPS2,224803,4739.394,-12252.998,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,-0.121
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,102.0,1443,-19.3,-10.000
$D_GRID,116
$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,27,begin dive
$GC,30,-1.76,-122.2,0.0,0.0,0,155,0.00,0.00,-122.25,0.000,2,0.000,0.000,131,2387,3558
$GC,159,-1.76,-122.2,2.2,-4.4,20,184,11.68,2.58,-6.80,0.000,4,0.216,0.076,1895,3779,3780
$GC,435,-1.76,-122.2,42.7,-18.2,52,440,0.00,2.45,0.00,0.000,6,0.000,0.037,1894,2374,3783
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,452,begin apogee
$GC,458,-0.42,0.0,46.1,19.0,53,599,1.77,0.00,136.02,0.588,6,0.173,0.000,2186,2374,3282
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.76,122.2,60.4,0.0,65,759,2.62,2.70,139.60,0.574,4,0.146,0.072,2660,3761,2783
$GC,765,1.87,215.7,53.5,4.9,78,883,0.17,2.55,106.15,0.566,6,0.095,0.037,2691,2354,2401
$GC,1071,1.92,254.5,31.8,7.9,103,1120,0.00,2.62,43.45,0.570,4,0.000,0.055,2692,959,2243
$GC,1205,1.95,281.2,20.4,8.5,113,1243,0.00,2.53,27.98,0.574,6,0.000,0.039,2691,2374,2135
$GC,1309,2.00,320.5,11.9,7.8,129,1353,0.15,2.62,36.20,0.568,4,0.088,0.055,2726,960,1974
$GC,1380,2.04,350.1,5.9,8.4,140,1411,0.00,2.50,22.90,0.568,6,0.000,0.039,2725,2360,1853
$STATE,1428,end climb,SURFACE_DEPTH_REACHED
$STATE,1428,begin surface coast
$FINISH,0.3,1.008558
$STATE,1456,end surface coast,CONTROL_FINISHED_OK
$STATE,1456,begin surface
$SM_CCo,1481,111.38,0.548,0,0,835,600.00
$SM_GC,0.98,0.00,0.00,111.38,0.000,0.000,0.548,134,2360,835,-9.89,-0.42,600.00
$IRIDIUM_FIX,4722.92,-12247.38,210907,020256
$TT8_MAMPS,0.06903
$HUMID,1936
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,20.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.3,4.953
$10V_AH,10.0,2.279
$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,28.025,20.550,512.300,111.375,0.000,0.000,0.000,0.000,1.250,151.290,1485.710,12.028,228.185,390.265,668.922,298.164,94.701,29.237,920.461,0.000,298.266,0.000,2.571
$DEVICE_MAMPS,215.527,75.933,588.289,547.638,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,94.556,0.000,0.000,0.000,0.000,0.000,0.000,1637.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3325,152
$CFSIZE,260034560,256995328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,231633,4739.396,-12252.879,15,1.4,15,18.3