version: 66.02
glider: 116
mission: 4
dive: 9
start: 9 21 107 5 33 17
data:
$ID,116
$MISSION,4
$DIVE,9
$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,150
$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,-24975.826
$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,2325
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,19
$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
$GPS1,052615,4739.227,-12251.638,8,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.3
$GPS2,053208,4739.239,-12251.647,15,2.0,32,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,-0.164
$KALMAN_X,1062.6,458.9,141.3,17.8,42.6
$KALMAN_Y,1181.5,547.8,203.7,-2219.0,-39.3
$MHEAD_RNG_PITCHd_Wd,212.7,624,-17.6,-10.101
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.65,-146.6,0.0,0.0,0,91,0.00,0.00,-60.40,0.000,2,0.000,0.000,134,2343,3101
$GC,95,-1.65,-146.6,2.2,-4.9,10,139,15.32,2.65,-22.65,0.000,4,0.202,0.064,2529,923,3880
$GC,390,-1.65,-146.6,27.2,-8.3,49,397,0.00,2.53,0.00,0.000,6,0.000,0.041,2529,2334,3882
$GC,586,-1.65,-146.6,44.2,-8.6,65,591,0.00,2.60,0.00,0.000,4,0.000,0.054,2529,920,3883
$GC,844,-1.65,-146.6,67.9,-9.0,84,849,0.00,2.53,0.00,0.000,6,0.000,0.042,2529,2329,3883
$GC,1040,-1.65,-146.6,85.3,-8.8,99,1044,0.00,2.58,0.00,0.000,4,0.000,0.054,2529,920,3883
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1212,-0.42,0.0,100.2,8.9,111,1392,1.35,0.00,172.32,0.638,6,0.106,0.000,2796,2381,3281
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1396,1.65,146.6,105.0,0.0,126,1579,2.10,2.72,169.95,0.613,4,0.058,0.071,3253,3778,2683
$GC,1834,1.65,146.6,56.7,13.7,160,1839,0.00,2.50,0.00,0.000,6,0.000,0.040,3253,2374,2683
$GC,2030,1.65,146.6,32.4,12.2,175,2034,0.00,2.65,0.00,0.000,4,0.000,0.066,3253,3779,2682
$GC,2188,1.65,146.6,11.3,13.4,191,2194,0.00,2.50,0.00,0.000,6,0.000,0.039,3253,2375,2683
$GC,2262,1.67,163.6,3.9,9.3,202,2280,0.00,0.00,13.48,0.629,6,0.000,0.000,3253,2375,2614
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,0.2,1.020689
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2356,106.10,0.575,0,0,1650,400.08
$SM_GC,0.95,0.00,0.00,106.10,0.000,0.000,0.575,131,2321,1650,-12.71,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12258.89,210907,080805
$TT8_MAMPS,0.067496
$HUMID,2115
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,93
$ALTIM_TOP_PING,9.5,999.0
$24V_AH,23.2,6.013
$10V_AH,10.0,2.831
$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,33.325,26.000,355.750,106.100,0.000,38.175,38.840,137.798,24.000,111.960,2830.040,32.819,389.800,1090.688,515.193,481.101,368.253,33.353,803.141,0.000,445.130,0.000,5.671
$DEVICE_MAMPS,202.488,91.273,638.144,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.459,0.000,0.000,0.000,0.000,0.000,0.000,2942.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,212
$CFSIZE,260034560,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,061509,4739.075,-12251.494,13,1.8,13,18.3