version: 66.02
glider: 116
mission: 4
dive: 49
start: 9 22 107 13 40 15
data:
$ID,116
$MISSION,4
$DIVE,49
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$T_MISSION,80
$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,100
$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,-26021.213
$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,28
$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
$GPS1,132859,4738.486,-12252.233,10,3.9,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.2
$GPS2,133907,4738.509,-12252.156,17,1.2,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.208,0.014
$KALMAN_X,9760.8,690.1,152.5,-9557.4,139.7
$KALMAN_Y,3489.8,185.2,74.1,-5387.0,5.6
$MHEAD_RNG_PITCHd_Wd,255.6,309,-19.6,-8.889
$D_GRID,73
$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,-1.75,-97.8,0.0,0.0,0,93,0.00,0.00,-60.47,0.000,2,0.000,0.000,132,2038,3113
$GC,97,-1.75,-97.8,2.2,-5.4,10,135,15.50,2.58,-15.85,0.000,4,0.211,0.072,2509,650,3680
$GC,387,-1.75,-97.8,20.9,-5.7,53,391,0.00,2.47,0.00,0.000,6,0.000,0.037,2511,2064,3682
$GC,582,-1.75,-97.8,32.2,-6.0,68,587,0.00,2.62,0.00,0.000,4,0.000,0.061,2509,652,3682
$GC,840,-1.75,-97.8,49.4,-6.5,87,845,0.00,2.47,0.00,0.000,6,0.000,0.038,2509,2054,3682
$GC,1036,-1.75,-97.8,61.7,-6.1,102,1040,0.00,2.60,0.00,0.000,4,0.000,0.061,2509,651,3682
$GC,1114,-1.75,-97.8,67.0,-6.7,107,1121,0.00,2.47,0.00,0.000,6,0.000,0.039,2509,2053,3682
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1227,-0.42,0.0,73.9,6.5,116,1347,1.48,0.00,115.15,0.621,6,0.111,0.000,2798,2501,3281
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1353,1.75,97.8,75.2,0.0,126,1478,2.17,2.75,113.28,0.599,4,0.058,0.077,3285,3884,2882
$GC,1550,1.75,97.8,54.2,14.8,141,1557,0.00,2.47,0.00,0.000,6,0.000,0.040,3285,2488,2882
$GC,1746,1.75,97.8,28.9,13.8,157,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2487,2882
$GC,1941,1.75,97.8,6.7,9.9,181,1947,0.00,2.65,0.00,0.000,4,0.000,0.071,3285,3890,2881
$STATE,1998,end climb,SURFACE_DEPTH_REACHED
$STATE,1998,begin surface coast
$FINISH,0.9,1.020315
$STATE,2032,end surface coast,CONTROL_FINISHED_OK
$STATE,2032,begin surface
$SM_CCo,2064,149.00,0.565,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,149.00,0.000,0.000,0.565,136,2047,1649,-12.69,-0.08,400.08
$IRIDIUM_FIX,4722.92,-12251.79,220907,171704
$TT8_MAMPS,0.06903
$HUMID,2111
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.70
$XPDR_PINGS,62
$ALTIM_TOP_PING,9.3,999.0
$24V_AH,23.5,10.115
$10V_AH,10.1,5.326
$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,34.175,27.250,228.425,149.000,0.000,81.435,81.789,234.725,15.750,99.280,2836.720,33.633,371.141,1072.601,452.765,402.568,551.380,33.324,687.483,0.000,366.999,0.000,2.550
$DEVICE_MAMPS,210.925,76.700,621.270,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.303,0.000,0.000,0.000,0.000,0.000,0.000,2936.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6427,195
$CFSIZE,260034560,255623168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,141757,4738.497,-12252.310,12,1.3,12,18.3