version: 66.02
glider: 116
mission: 4
dive: 2
start: 9 21 107 0 3 2
data:
$ID,116
$MISSION,4
$DIVE,2
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24762.01
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2600
$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,22
$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
$GPS1,235703,4739.481,-12252.554,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-59.0
$GPS2,000157,4739.488,-12252.517,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.059,-0.232
$KALMAN_X,101.2,101.2,101.2,287.1,137.1
$KALMAN_Y,69.1,69.1,69.1,-39.7,93.7
$MHEAD_RNG_PITCHd_Wd,176.0,1109,-19.3,-10.000
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.76,-122.2,0.0,0.0,0,129,0.00,0.00,-96.35,0.000,2,0.000,0.000,134,2361,3202
$GC,134,-1.76,-122.2,2.1,-4.7,16,177,13.23,2.65,-20.70,0.000,4,0.205,0.076,2208,3775,3782
$GC,422,-1.76,-122.2,36.9,-15.1,51,426,0.00,2.45,0.00,0.000,6,0.000,0.036,2208,2366,3783
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,482,-0.42,0.0,45.6,15.6,55,628,1.62,0.00,140.70,0.599,6,0.141,0.000,2504,2366,3281
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,634,1.76,122.2,55.8,0.0,67,785,2.40,2.62,139.98,0.581,4,0.107,0.056,2981,965,2782
$GC,824,1.87,214.6,48.6,4.9,82,942,0.12,2.50,104.90,0.572,6,0.054,0.039,3020,2368,2406
$GC,1131,1.94,270.2,28.8,6.9,107,1203,0.00,2.70,63.10,0.574,4,0.000,0.071,3020,3767,2180
$GC,1237,2.00,317.6,20.7,7.4,115,1293,0.00,2.47,49.58,0.570,6,0.000,0.038,3020,2360,1986
$GC,1359,2.04,350.1,10.9,8.2,133,1396,0.12,2.60,29.70,0.571,4,0.067,0.058,3050,957,1854
$STATE,1467,end climb,SURFACE_DEPTH_REACHED
$STATE,1467,begin surface coast
$FINISH,0.2,1.007848
$STATE,1494,end surface coast,CONTROL_FINISHED_OK
$STATE,1495,begin surface
$SM_CCo,1526,112.15,0.553,0,0,835,600.00
$SM_GC,1.05,0.00,0.00,112.15,0.000,0.000,0.553,135,2382,835,-11.34,0.17,600.00
$IRIDIUM_FIX,4722.92,-12254.47,210907,030324
$TT8_MAMPS,0.067496
$HUMID,1974
$INTERNAL_PRESSURE,10.8989
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.6,5.111
$10V_AH,10.0,2.377
$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,30.825,20.600,527.950,112.150,0.000,0.000,0.000,0.000,0.250,0.000,1680.000,14.156,234.023,423.232,674.318,302.701,91.742,30.182,925.423,0.000,301.043,0.000,2.563
$DEVICE_MAMPS,204.789,75.933,599.027,553.007,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,96.273,0.000,0.000,0.000,0.000,0.000,0.000,1680.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3324,154
$CFSIZE,260034560,256954368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,003109,4739.478,-12252.474,12,1.7,13,18.3