version: 66.02
glider: 116
mission: 4
dive: 26
start: 9 21 107 20 6 17
data:
$ID,116
$MISSION,4
$DIVE,26
$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,-25537.279
$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,2050
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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
$GPS1,195623,4739.421,-12252.251,11,2.6,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.3
$GPS2,200507,4739.473,-12252.169,39,1.5,39,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.034
$KALMAN_X,4564.3,204.9,-208.7,-3531.9,83.0
$KALMAN_Y,2961.1,-65.2,-81.7,-2667.8,57.5
$MHEAD_RNG_PITCHd_Wd,241.2,290,-25.3,-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,-2.20,-74.2,0.0,0.0,0,90,0.00,0.00,-60.33,0.000,2,0.000,0.000,134,2054,3090
$GC,94,-2.26,-122.2,2.0,-4.4,10,137,14.45,2.62,-20.92,0.000,4,0.206,0.074,2399,645,3780
$GC,173,-2.26,-122.2,7.7,-9.3,22,179,0.00,2.50,0.00,0.000,6,0.000,0.040,2399,2061,3781
$GC,246,-2.26,-122.2,15.3,-9.8,33,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2061,3782
$GC,317,-2.26,-122.2,21.8,-9.0,43,321,0.00,2.62,0.00,0.000,4,0.000,0.060,2399,641,3782
$GC,377,-2.26,-122.2,27.8,-10.1,47,381,0.00,2.50,0.00,0.000,6,0.000,0.038,2399,2061,3782
$GC,572,-2.26,-122.2,48.6,-11.0,62,576,0.00,2.62,0.00,0.000,4,0.000,0.061,2399,642,3783
$GC,822,-2.26,-122.2,79.3,-12.1,80,829,0.00,2.50,0.00,0.000,6,0.000,0.039,2399,2046,3783
$STATE,1004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1011,-0.42,0.0,100.1,11.3,95,1162,2.03,0.00,143.90,0.635,6,0.118,0.000,2798,2497,3281
$STATE,1166,end apogee,CONTROL_FINISHED_OK
$STATE,1166,begin climb
$GC,1168,2.26,122.2,103.3,0.0,108,1322,2.67,2.70,141.90,0.610,4,0.056,0.080,3392,3884,2782
$GC,1575,2.26,122.2,38.5,18.9,139,1579,0.00,2.47,0.00,0.000,6,0.000,0.042,3393,2493,2782
$GC,1774,2.26,122.2,5.9,14.2,160,1780,0.00,2.65,0.00,0.000,4,0.000,0.072,3392,3892,2782
$STATE,1804,end climb,SURFACE_DEPTH_REACHED
$STATE,1804,begin surface coast
$FINISH,0.1,1.002216
$STATE,1818,end surface coast,CONTROL_FINISHED_OK
$STATE,1819,begin surface
$SM_CCo,1851,126.93,0.565,0,0,1649,400.08
$SM_GC,0.77,0.00,0.00,126.93,0.000,0.000,0.565,136,2038,1649,-12.69,-0.34,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,232329
$TT8_MAMPS,0.069797
$HUMID,2079
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,80
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.9,7.921
$10V_AH,10.0,3.947
$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,34.000,27.375,285.800,126.925,0.000,74.452,127.261,118.148,20.750,0.000,2640.000,41.793,322.145,879.925,484.362,388.314,458.499,33.326,721.666,0.000,345.226,0.000,5.668
$DEVICE_MAMPS,206.323,79.768,635.076,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.497,0.000,0.000,0.000,0.000,0.000,0.000,2640.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3317,167
$CFSIZE,260034560,256282624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,204003,4739.365,-12252.288,11,1.9,11,18.3