version: 66.02
glider: 116
mission: 4
dive: 22
start: 9 21 107 17 10 15
data:
$ID,116
$MISSION,4
$DIVE,22
$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,-25415.045
$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,2150
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$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
$GPS1,170335,4739.366,-12252.537,13,2.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.9
$GPS2,170905,4739.375,-12252.499,12,2.6,31,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,0.144
$KALMAN_X,4280.5,480.1,7.2,-4142.9,-127.6
$KALMAN_Y,2676.7,118.3,-41.5,-2785.4,-117.1
$MHEAD_RNG_PITCHd_Wd,22.6,210,-25.1,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-2.18,-75.3,0.0,0.0,0,90,0.00,0.00,-60.47,0.000,2,0.000,0.000,136,2149,3090
$GC,94,-2.24,-122.2,2.1,-4.7,10,137,14.45,2.58,-21.48,0.000,4,0.206,0.071,2403,746,3780
$GC,388,-2.24,-122.2,32.6,-11.6,46,395,0.00,2.53,0.00,0.000,6,0.000,0.038,2404,2159,3782
$GC,584,-2.24,-122.2,54.1,-10.7,62,589,0.00,2.58,0.00,0.000,4,0.000,0.058,2403,750,3782
$GC,841,-2.24,-122.2,84.0,-11.7,81,848,0.00,2.50,0.00,0.000,6,0.000,0.039,2404,2151,3782
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,993,-0.42,0.0,100.7,11.7,93,1144,2.00,0.00,143.80,0.637,6,0.117,0.000,2798,2478,3281
$STATE,1147,end apogee,CONTROL_FINISHED_OK
$STATE,1148,begin climb
$GC,1150,2.24,122.2,103.9,0.0,106,1304,2.65,2.67,142.15,0.613,4,0.057,0.074,3386,3870,2782
$GC,1557,2.24,122.2,40.3,19.3,137,1561,0.00,2.47,0.00,0.000,6,0.000,0.040,3386,2472,2782
$GC,1756,2.24,122.2,7.4,15.3,158,1762,0.00,2.62,0.00,0.000,4,0.000,0.067,3386,3871,2781
$STATE,1799,end climb,SURFACE_DEPTH_REACHED
$STATE,1799,begin surface coast
$FINISH,0.6,1.020782
$STATE,1820,end surface coast,CONTROL_FINISHED_OK
$STATE,1822,begin surface
$SM_CCo,1853,136.30,0.567,0,0,1651,400.08
$SM_GC,0.92,0.00,0.00,136.30,0.000,0.000,0.567,133,2150,1651,-12.71,0.00,400.08
$IRIDIUM_FIX,4722.92,-12251.79,210907,202056
$TT8_MAMPS,0.067496
$HUMID,2074
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,78
$ALTIM_TOP_PING,9.2,999.0
$24V_AH,23.9,7.564
$10V_AH,10.0,3.716
$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,33.925,21.650,285.950,136.300,0.000,37.702,34.965,123.484,20.250,0.000,2453.000,32.070,317.208,832.858,486.298,386.404,328.131,33.325,719.808,0.000,350.435,0.000,5.668
$DEVICE_MAMPS,205.556,73.632,636.610,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,109.266,0.000,0.000,0.000,0.000,0.000,0.000,2453.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3303,168
$CFSIZE,260034560,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,174429,4739.463,-12252.685,7,2.3,26,18.3