version: 66.02
glider: 116
mission: 4
dive: 79
start: 9 23 107 17 52 3
data:
$ID,116
$MISSION,4
$DIVE,79
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,35
$T_MISSION,70
$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,-26713.691
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,174435,4738.882,-12252.163,10,4.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.3
$GPS2,175051,4738.909,-12252.141,11,1.7,11,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,0.079
$KALMAN_X,13715.5,397.9,145.0,-13186.8,-64.9
$KALMAN_Y,4246.9,215.4,113.2,-5470.8,0.1
$MHEAD_RNG_PITCHd_Wd,36.7,243,-25.6,-7.619
$D_GRID,128
$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,-2.19,-46.0,0.0,0.0,0,84,0.00,0.00,-54.55,0.000,2,0.000,0.000,134,2043,2971
$GC,88,-2.23,-79.9,2.2,-3.9,9,132,14.70,2.65,-22.83,0.000,4,0.212,0.070,2405,3456,3607
$GC,384,-2.25,-92.5,20.4,-6.2,54,391,0.00,2.50,-0.75,0.000,6,0.000,0.038,2405,2046,3662
$GC,579,-2.25,-92.5,35.9,-8.1,70,583,0.00,2.60,0.00,0.000,4,0.000,0.059,2405,3462,3664
$GC,670,-2.25,-92.5,44.6,-9.4,76,677,0.00,2.53,0.00,0.000,6,0.000,0.038,2405,2044,3664
$GC,867,-2.25,-92.5,62.3,-9.0,92,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2043,3663
$GC,1058,-2.25,-92.5,79.2,-9.0,107,1062,0.00,2.58,0.00,0.000,4,0.000,0.066,2405,652,3663
$STATE,1068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1068,begin apogee
$GC,1077,-0.42,0.0,80.5,9.1,107,1193,2.03,0.00,109.60,0.631,6,0.122,0.000,2799,2500,3281
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1197,2.25,92.5,82.8,0.0,117,1315,2.65,2.72,107.30,0.605,4,0.059,0.075,3384,3888,2902
$GC,1421,2.25,92.5,54.3,16.6,134,1426,0.00,2.45,0.00,0.000,6,0.000,0.039,3384,2496,2903
$GC,1617,2.25,92.5,25.6,14.4,149,1621,0.00,2.65,0.00,0.000,4,0.000,0.069,3384,3895,2903
$GC,1655,2.25,92.5,19.4,16.2,151,1662,0.00,2.45,0.00,0.000,6,0.000,0.038,3384,2500,2902
$GC,1862,2.33,162.9,2.8,-0.2,182,1899,0.00,0.00,35.12,0.588,6,0.000,0.000,3384,2499,2616
$STATE,1903,end climb,SURFACE_DEPTH_REACHED
$STATE,1904,begin surface coast
$FINISH,0.3,1.019744
$STATE,2004,end surface coast,CONTROL_FINISHED_OK
$STATE,2004,begin surface
$SM_CCo,2035,106.53,0.568,0,0,1649,400.08
$SM_GC,0.99,0.00,0.00,106.53,0.000,0.000,0.568,133,2051,1649,-12.71,0.03,400.08
$IRIDIUM_FIX,4722.92,-12249.11,230907,202003
$TT8_MAMPS,0.06903
$HUMID,2111
$INTERNAL_PRESSURE,10.9575
$TCM_TEMP,19.80
$XPDR_PINGS,52
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,13.336
$10V_AH,10.1,7.477
$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,34.350,27.275,252.025,106.525,0.000,38.322,49.906,164.777,13.250,42.100,2602.900,11.398,377.498,965.750,427.270,371.756,407.290,33.338,666.732,0.000,361.798,0.000,2.550
$DEVICE_MAMPS,212.459,75.166,631.241,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.750,0.000,0.000,0.000,0.000,0.000,0.000,2645.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,204
$CFSIZE,260034560,254664704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,182832,4738.983,-12252.003,9,1.5,9,18.3