version: 66.02
glider: 116
mission: 4
dive: 8
start: 9 21 107 4 45 26
data:
$ID,116
$MISSION,4
$DIVE,8
$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,-24942.381
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,043905,4739.394,-12251.636,9,3.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.5
$GPS2,044415,4739.409,-12251.658,12,2.0,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,-0.196
$KALMAN_X,864.6,397.1,144.2,262.5,91.6
$KALMAN_Y,1105.0,519.7,237.5,-1833.0,60.0
$MHEAD_RNG_PITCHd_Wd,197.0,869,-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,-60.55,0.000,2,0.000,0.000,136,2345,3113
$GC,94,-1.77,-122.2,2.4,-5.6,10,137,15.35,2.58,-18.62,0.000,4,0.204,0.065,2504,954,3781
$GC,388,-1.77,-122.2,26.8,-8.5,49,395,0.00,2.50,0.00,0.000,6,0.000,0.040,2504,2359,3784
$GC,584,-1.77,-122.2,42.9,-8.8,65,589,0.00,2.58,0.00,0.000,4,0.000,0.053,2504,953,3785
$GC,843,-1.77,-122.2,65.9,-8.9,84,847,0.00,2.53,0.00,0.000,6,0.000,0.041,2504,2363,3784
$GC,1038,-1.77,-122.2,83.2,-8.9,99,1043,0.00,2.58,0.00,0.000,4,0.000,0.054,2504,956,3784
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1237,-0.42,0.0,100.2,8.4,113,1388,1.50,0.00,143.77,0.642,6,0.108,0.000,2797,2369,3281
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1393,1.77,122.2,103.5,0.0,126,1547,2.20,2.67,142.38,0.616,4,0.058,0.071,3288,3762,2782
$GC,1711,1.77,122.2,67.8,14.0,150,1718,0.00,2.53,0.00,0.000,6,0.000,0.040,3288,2369,2782
$GC,1908,1.77,122.2,42.3,12.7,166,1912,0.00,2.65,0.00,0.000,4,0.000,0.066,3288,3769,2782
$GC,2008,1.77,122.2,28.4,14.0,173,2013,0.00,2.53,0.00,0.000,6,0.000,0.040,3288,2349,2781
$GC,2210,1.80,145.5,4.3,8.8,198,2235,0.00,2.67,18.35,0.625,4,0.000,0.064,3288,3764,2686
$STATE,2246,end climb,SURFACE_DEPTH_REACHED
$STATE,2246,begin surface coast
$FINISH,1.4,1.020614
$STATE,2254,end surface coast,CONTROL_FINISHED_OK
$STATE,2254,begin surface
$SM_CCo,2288,116.28,0.574,0,0,1650,400.08
$SM_GC,1.01,0.00,0.00,116.28,0.000,0.000,0.574,134,2343,1650,-12.70,-0.34,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,070728
$TT8_MAMPS,0.067496
$HUMID,2122
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,81
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.3,5.883
$10V_AH,10.0,2.768
$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,34.200,30.950,304.500,116.275,0.000,38.375,31.093,124.794,21.000,106.900,2762.100,12.804,385.393,1091.106,487.160,441.185,340.377,33.332,760.309,0.000,425.123,0.000,5.672
$DEVICE_MAMPS,204.022,70.564,641.979,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.137,0.000,0.000,0.000,0.000,0.000,0.000,2869.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,205
$CFSIZE,260034560,256798720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,052615,4739.227,-12251.638,8,2.0,8,18.3