version: 66.02
glider: 116
mission: 4
dive: 50
start: 9 22 107 14 29 15
data:
$ID,116
$MISSION,4
$DIVE,50
$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,-26052.971
$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
$GPS1,141757,4738.497,-12252.310,12,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.4
$GPS2,142807,4738.531,-12252.242,13,1.1,29,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.152,0.023
$KALMAN_X,9928.7,713.3,182.4,-9883.5,116.8
$KALMAN_Y,3498.4,191.2,74.5,-5362.3,-45.1
$MHEAD_RNG_PITCHd_Wd,260.5,199,-27.1,-8.889
$D_GRID,101
$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,30,-2.32,-52.9,0.0,0.0,0,91,0.00,0.00,-58.83,0.000,2,0.000,0.000,136,2047,3055
$GC,95,-2.37,-90.9,2.1,-4.6,10,133,14.48,2.62,-17.80,0.000,4,0.212,0.071,2375,654,3653
$GC,239,-2.37,-96.4,14.1,-8.3,32,246,0.00,2.50,-0.35,0.000,6,0.000,0.038,2375,2067,3675
$GC,315,-2.38,-97.8,19.8,-7.5,43,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2067,3676
$GC,384,-2.38,-97.8,24.9,-7.2,49,388,0.00,2.60,0.00,0.000,4,0.000,0.058,2375,651,3676
$GC,504,-2.38,-97.8,34.7,-7.5,57,510,0.00,2.45,0.00,0.000,6,0.000,0.037,2375,2050,3677
$GC,699,-2.38,-97.8,50.1,-8.4,73,704,0.00,2.58,0.00,0.000,4,0.000,0.060,2375,653,3677
$GC,858,-2.38,-97.8,65.4,-9.2,84,865,0.00,2.45,0.00,0.000,6,0.000,0.038,2375,2050,3677
$GC,1054,-2.38,-97.8,82.3,-8.6,100,1058,0.00,2.60,0.00,0.000,4,0.000,0.061,2375,648,3677
$GC,1183,-2.38,-97.8,95.0,-10.9,109,1187,0.00,2.47,0.00,0.000,6,0.000,0.038,2375,2051,3677
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1247,-0.42,0.0,101.2,10.1,113,1366,2.20,0.00,114.28,0.637,6,0.124,0.000,2802,2498,3281
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1372,2.38,97.8,103.4,0.0,123,1501,2.78,2.75,113.38,0.613,4,0.056,0.077,3418,3891,2883
$GC,1637,2.38,97.8,61.9,19.8,144,1641,0.00,2.47,0.00,0.000,6,0.000,0.040,3419,2496,2883
$GC,1833,2.38,97.8,27.1,16.5,159,1837,0.00,2.62,0.00,0.000,4,0.000,0.070,3419,3888,2883
$GC,1964,2.38,97.8,4.7,16.2,175,1971,0.00,2.45,0.00,0.000,6,0.000,0.040,3419,2496,2883
$STATE,1995,end climb,SURFACE_DEPTH_REACHED
$STATE,1995,begin surface coast
$FINISH,0.7,1.020175
$STATE,2016,end surface coast,CONTROL_FINISHED_OK
$STATE,2016,begin surface
$SM_CCo,2048,152.15,0.565,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,152.15,0.000,0.000,0.565,133,2038,1649,-12.71,-0.34,400.08
$IRIDIUM_FIX,4719.74,-12251.79,220907,181800
$TT8_MAMPS,0.066729
$HUMID,2080
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.80
$XPDR_PINGS,40
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.9,10.230
$10V_AH,10.1,5.391
$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,35.200,32.225,227.650,152.150,0.000,77.821,70.573,255.838,10.750,78.870,2846.130,31.130,365.131,1038.331,465.293,402.017,568.594,33.323,707.241,0.000,366.693,0.000,7.463
$DEVICE_MAMPS,211.692,76.700,636.610,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,119.788,0.000,0.000,0.000,0.000,0.000,0.000,2925.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3317,183
$CFSIZE,260034560,255594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,150645,4738.551,-12252.486,12,1.3,12,18.3