version: 66.02
glider: 116
mission: 4
dive: 15
start: 9 21 107 11 34 36
data:
$ID,116
$MISSION,4
$DIVE,15
$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,-25239.986
$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,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,112821,4739.183,-12251.449,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.1
$GPS2,113327,4739.205,-12251.394,15,1.7,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.223,-0.089
$KALMAN_X,3130.8,601.9,299.7,-2037.2,116.5
$KALMAN_Y,2499.4,521.4,100.4,-3472.7,11.9
$MHEAD_RNG_PITCHd_Wd,230.0,847,-19.5,-10.101
$D_GRID,121
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.53,0.000,2,0.000,0.000,134,2240,3103
$GC,97,-1.77,-122.2,2.2,-5.1,10,140,15.15,2.58,-19.88,0.000,4,0.202,0.068,2505,845,3782
$GC,359,-1.77,-122.2,23.6,-8.2,47,363,0.00,2.50,0.00,0.000,6,0.000,0.040,2505,2253,3784
$GC,562,-1.77,-122.2,40.1,-8.2,63,566,0.00,2.58,0.00,0.000,4,0.000,0.056,2505,848,3784
$GC,634,-1.77,-122.2,46.3,-8.7,68,638,0.00,2.50,0.00,0.000,6,0.000,0.040,2505,2258,3784
$GC,836,-1.77,-122.2,63.1,-8.3,84,841,0.00,2.60,0.00,0.000,4,0.000,0.056,2505,848,3784
$GC,1014,-1.77,-122.2,78.1,-8.5,97,1019,0.00,2.50,0.00,0.000,6,0.000,0.040,2505,2253,3784
$GC,1210,-1.77,-122.2,95.2,-8.9,112,1214,0.00,2.60,0.00,0.000,4,0.000,0.058,2505,846,3784
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1277,-0.42,0.0,100.6,9.5,116,1428,1.48,0.00,144.45,0.643,6,0.109,0.000,2795,2448,3281
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1434,1.77,122.2,104.0,0.0,129,1587,2.22,2.72,142.62,0.618,4,0.058,0.077,3281,3853,2781
$GC,1725,1.77,122.2,72.7,14.2,151,1732,0.00,2.53,0.00,0.000,6,0.000,0.039,3280,2447,2782
$GC,1922,1.77,122.2,47.5,12.7,167,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2444,2781
$GC,2114,1.77,122.2,23.5,12.8,182,2119,0.00,2.67,0.00,0.000,4,0.000,0.071,3281,3860,2781
$STATE,2290,end climb,SURFACE_DEPTH_REACHED
$STATE,2290,begin surface coast
$FINISH,0.4,1.020636
$STATE,2319,end surface coast,CONTROL_FINISHED_OK
$STATE,2319,begin surface
$SM_CCo,2351,131.90,0.576,0,0,1649,400.08
$SM_GC,0.89,0.00,0.00,131.90,0.000,0.000,0.576,133,2240,1649,-12.71,-0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,210907,141453
$TT8_MAMPS,0.068263
$HUMID,2104
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,112
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.3,6.807
$10V_AH,10.0,3.291
$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,33.475,31.625,287.075,131.900,0.000,38.084,34.793,118.222,28.750,111.920,2789.080,15.597,395.789,1175.599,484.638,420.463,341.511,33.328,748.732,0.000,404.790,0.000,5.670
$DEVICE_MAMPS,202.488,77.467,642.746,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.064,0.000,0.000,0.000,0.000,0.000,0.000,2901.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,210
$CFSIZE,260034560,256589824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,121645,4739.165,-12251.494,10,1.9,10,18.3