version: 66.02
glider: 116
mission: 4
dive: 7
start: 9 21 107 3 56 39
data:
$ID,116
$MISSION,4
$DIVE,7
$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,-24928.947
$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,2355
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$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
$GPS1,034926,4739.559,-12251.697,9,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.4
$GPS2,035529,4739.584,-12251.706,11,3.0,30,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,-0.226
$KALMAN_X,687.3,354.3,166.7,398.8,68.6
$KALMAN_Y,1012.0,477.0,240.0,-1377.0,178.1
$MHEAD_RNG_PITCHd_Wd,181.2,1143,-19.5,-10.101
$D_GRID,123
$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,-1.77,-122.2,0.0,0.0,0,90,0.00,0.00,-60.58,0.000,2,0.000,0.000,128,2391,3107
$GC,94,-1.77,-122.2,2.3,-5.3,10,137,15.20,2.67,-19.12,0.000,4,0.202,0.064,2506,954,3781
$GC,387,-1.77,-122.2,26.5,-8.0,49,394,0.00,2.53,0.00,0.000,6,0.000,0.040,2506,2360,3784
$GC,584,-1.77,-122.2,42.4,-8.4,65,588,0.00,2.60,0.00,0.000,4,0.000,0.053,2506,943,3784
$GC,696,-1.77,-122.2,52.1,-8.7,73,701,0.00,2.55,0.00,0.000,6,0.000,0.041,2506,2365,3784
$GC,892,-1.77,-122.2,68.2,-8.3,88,896,0.00,2.60,0.00,0.000,4,0.000,0.054,2505,945,3784
$GC,1150,-1.77,-122.2,90.8,-8.8,107,1154,0.00,2.53,0.00,0.000,6,0.000,0.042,2506,2356,3784
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1261,-0.42,0.0,100.1,8.6,115,1414,1.52,0.00,143.80,0.639,6,0.106,0.000,2803,2356,3281
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1420,1.77,122.2,103.2,0.0,128,1573,2.17,2.70,141.98,0.617,4,0.058,0.071,3277,3768,2781
$GC,1732,1.77,122.2,70.9,13.3,152,1737,0.00,2.50,0.00,0.000,6,0.000,0.040,3277,2359,2781
$GC,1928,1.77,122.2,46.3,13.0,167,1932,0.00,2.65,0.00,0.000,4,0.000,0.067,3277,3767,2781
$GC,2020,1.77,122.2,33.7,13.9,174,2024,0.00,2.53,0.00,0.000,6,0.000,0.040,3277,2350,2781
$GC,2221,1.77,122.2,8.5,12.1,196,2228,0.00,2.65,0.00,0.000,4,0.000,0.067,3276,3762,2781
$STATE,2298,end climb,SURFACE_DEPTH_REACHED
$STATE,2300,begin surface coast
$FINISH,1.3,1.020483
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2313,begin surface
$SM_CCo,2344,135.98,0.578,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,135.98,0.000,0.000,0.578,136,2345,1649,-12.70,-0.28,400.08
$IRIDIUM_FIX,4722.92,-12249.11,210907,070724
$TT8_MAMPS,0.068263
$HUMID,2129
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,68
$ALTIM_TOP_PING,9.4,999.0
$24V_AH,23.4,5.762
$10V_AH,10.0,2.706
$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,33.950,31.050,285.775,135.975,0.000,39.048,35.573,152.247,17.750,111.970,2837.030,31.728,398.203,1148.052,491.458,461.475,374.716,33.327,763.876,0.000,423.638,0.000,5.669
$DEVICE_MAMPS,202.488,71.331,638.911,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.986,0.000,0.000,0.000,0.000,0.000,0.000,2949.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,210
$CFSIZE,260034560,256827392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,043905,4739.394,-12251.636,9,3.2,28,18.3