version: 66.02
glider: 116
mission: 4
dive: 40
start: 9 22 107 7 3 21
data:
$ID,116
$MISSION,4
$DIVE,40
$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,-25808.961
$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,25
$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
$GPS1,065629,4738.577,-12253.061,14,4.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.6
$GPS2,070211,4738.594,-12252.970,16,3.0,35,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.066
$KALMAN_X,7389.0,279.8,173.9,-7813.1,111.1
$KALMAN_Y,2958.9,-21.2,-27.1,-4393.1,17.2
$MHEAD_RNG_PITCHd_Wd,233.5,312,-22.6,-10.101
$D_GRID,136
$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,-1.99,-92.2,0.0,0.0,0,90,0.00,0.00,-60.60,0.000,2,0.000,0.000,137,2045,3101
$GC,94,-2.03,-122.2,2.2,-5.4,10,137,15.00,2.65,-19.40,0.000,4,0.213,0.071,2445,3458,3780
$GC,211,-2.03,-122.2,12.1,-9.6,28,217,0.00,2.47,0.00,0.000,6,0.000,0.038,2446,2045,3781
$GC,284,-2.03,-122.2,17.8,-8.4,39,290,0.00,2.60,0.00,0.000,4,0.000,0.061,2445,3460,3782
$GC,337,-2.03,-122.2,22.3,-9.0,46,341,0.00,2.47,0.00,0.000,6,0.000,0.038,2446,2049,3783
$GC,532,-2.03,-122.2,39.0,-8.6,61,536,0.00,2.58,0.00,0.000,4,0.000,0.065,2446,655,3783
$GC,597,-2.03,-122.2,45.0,-9.0,65,604,0.00,2.47,0.00,0.000,6,0.000,0.039,2446,2060,3784
$GC,794,-2.03,-122.2,63.0,-9.7,81,798,0.00,2.60,0.00,0.000,4,0.000,0.063,2446,655,3784
$GC,906,-2.03,-122.2,74.3,-10.3,89,910,0.00,2.47,0.00,0.000,6,0.000,0.039,2448,2060,3784
$GC,1101,-2.03,-122.2,92.8,-9.6,104,1106,0.00,2.60,0.00,0.000,4,0.000,0.063,2446,656,3784
$STATE,1179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1179,begin apogee
$GC,1189,-0.42,0.0,100.6,9.9,109,1340,1.77,0.00,144.45,0.634,6,0.116,0.000,2799,2492,3281
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1345,2.03,122.2,102.9,0.0,122,1500,2.42,2.72,142.68,0.608,4,0.058,0.079,3340,3895,2782
$GC,1579,2.03,122.2,73.4,16.6,140,1584,0.00,2.47,0.00,0.000,6,0.000,0.041,3340,2498,2782
$GC,1775,2.03,122.2,42.3,15.6,155,1779,0.00,2.65,0.00,0.000,4,0.000,0.072,3340,3894,2782
$GC,1834,2.03,122.2,32.3,16.6,159,1838,0.00,2.45,0.00,0.000,6,0.000,0.039,3340,2500,2782
$GC,2034,2.03,122.2,2.5,13.8,183,2041,0.00,2.62,0.00,0.000,4,0.000,0.071,3340,3891,2781
$STATE,2045,end climb,SURFACE_DEPTH_REACHED
$STATE,2045,begin surface coast
$FINISH,0.2,1.020340
$STATE,2066,end surface coast,CONTROL_FINISHED_OK
$STATE,2066,begin surface
$SM_CCo,2100,134.12,0.566,0,0,1650,400.08
$SM_GC,0.90,0.00,0.00,134.12,0.000,0.000,0.566,134,2054,1650,-12.70,0.08,400.08
$IRIDIUM_FIX,4719.74,-12256.21,220907,101050
$TT8_MAMPS,0.066729
$HUMID,2083
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,98
$ALTIM_TOP_PING,9.5,999.0
$24V_AH,23.9,9.226
$10V_AH,10.1,4.807
$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,33.825,42.500,287.125,134.125,0.000,40.445,35.575,126.217,25.250,0.000,2718.000,36.499,364.602,986.996,499.481,404.717,351.220,33.328,754.480,0.000,363.662,0.000,5.672
$DEVICE_MAMPS,213.226,79.001,634.309,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.812,0.000,0.000,0.000,0.000,0.000,0.000,2718.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,188
$CFSIZE,260034560,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,074121,4738.539,-12253.091,9,1.3,9,18.3