version: 66.02
glider: 116
mission: 4
dive: 82
start: 9 23 107 20 24 12
data:
$ID,116
$MISSION,4
$DIVE,82
$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,-26793.039
$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,29
$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
$GPS1,201709,4739.328,-12252.272,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.1
$GPS2,202302,4739.339,-12252.244,12,1.8,29,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,0.146
$KALMAN_X,13889.6,248.2,59.0,-13256.8,-54.6
$KALMAN_Y,4203.2,115.4,127.6,-4546.8,-69.4
$MHEAD_RNG_PITCHd_Wd,316.9,308,-21.8,-7.619
$D_GRID,125
$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,29,-1.89,-62.0,0.0,0.0,0,91,0.00,0.00,-60.55,0.000,2,0.000,0.000,132,2043,3108
$GC,95,-1.94,-97.8,2.2,-3.9,10,133,15.15,2.62,-16.92,0.000,4,0.212,0.073,2467,656,3681
$GC,385,-1.94,-97.8,24.2,-7.3,50,389,0.00,2.47,0.00,0.000,6,0.000,0.038,2467,2065,3682
$GC,581,-1.94,-97.8,38.7,-7.4,65,585,0.00,2.60,0.00,0.000,4,0.000,0.061,2467,655,3682
$GC,838,-1.94,-97.8,60.7,-9.0,84,843,0.00,2.45,0.00,0.000,6,0.000,0.040,2467,2048,3683
$GC,1034,-1.94,-97.8,77.6,-8.8,99,1038,0.00,2.58,0.00,0.000,4,0.000,0.061,2467,656,3682
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1074,-0.42,0.0,80.6,9.5,101,1194,1.67,0.00,115.38,0.628,6,0.117,0.000,2798,2501,3281
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1200,1.94,97.8,83.5,0.0,111,1324,2.35,2.72,113.40,0.607,4,0.060,0.076,3316,3888,2882
$GC,1477,1.94,97.8,52.7,14.1,132,1484,0.00,2.45,0.00,0.000,6,0.000,0.039,3317,2494,2882
$GC,1673,1.94,97.8,26.5,13.1,148,1677,0.00,2.62,0.00,0.000,4,0.000,0.070,3317,3888,2882
$GC,1712,1.94,97.8,20.7,14.7,151,1716,0.00,2.47,0.00,0.000,6,0.000,0.038,3317,2490,2882
$STATE,1886,end climb,SURFACE_DEPTH_REACHED
$STATE,1886,begin surface coast
$FINISH,0.6,1.020887
$STATE,1916,end surface coast,CONTROL_FINISHED_OK
$STATE,1916,begin surface
$SM_CCo,1946,144.25,0.570,0,0,1649,400.08
$SM_GC,1.00,0.00,0.00,144.25,0.000,0.000,0.570,133,2042,1649,-12.71,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12254.47,230907,232320
$TT8_MAMPS,0.067496
$HUMID,2068
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.60
$XPDR_PINGS,96
$ALTIM_TOP_PING,9.4,999.0
$24V_AH,23.9,13.636
$10V_AH,10.1,7.670
$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,33.775,27.150,228.775,144.250,0.000,39.269,32.335,143.052,24.250,46.250,2509.750,29.465,350.374,931.413,441.901,390.019,358.854,33.345,671.756,0.000,357.395,0.000,2.549
$DEVICE_MAMPS,212.459,75.933,628.173,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.347,0.000,0.000,0.000,0.000,0.000,0.000,2556.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3322,180
$CFSIZE,260034560,254582784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,210007,4739.405,-12252.466,12,1.3,28,18.3