version: 66.02
glider: 116
mission: 4
dive: 42
start: 9 22 107 8 32 56
data:
$ID,116
$MISSION,4
$DIVE,42
$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,-25838.961
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,082608,4738.510,-12253.144,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.2
$GPS2,083145,4738.525,-12253.071,15,1.4,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.240,-0.011
$KALMAN_X,7963.9,382.1,128.4,-8568.9,161.4
$KALMAN_Y,3031.2,22.3,-39.3,-4622.5,32.5
$MHEAD_RNG_PITCHd_Wd,74.4,836,-19.5,-10.101
$D_GRID,139
$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,-1.77,-122.2,0.0,0.0,0,91,0.00,0.00,-60.55,0.000,2,0.000,0.000,135,2051,3084
$GC,95,-1.77,-122.2,2.2,-5.0,10,139,15.32,2.60,-20.92,0.000,4,0.212,0.074,2505,647,3780
$GC,390,-1.77,-122.2,25.7,-7.2,49,396,0.00,2.47,0.00,0.000,6,0.000,0.038,2505,2060,3782
$GC,586,-1.77,-122.2,41.1,-7.9,65,590,0.00,2.60,0.00,0.000,4,0.000,0.061,2505,649,3783
$GC,836,-1.77,-122.2,62.7,-8.4,83,843,0.00,2.45,0.00,0.000,6,0.000,0.038,2505,2049,3784
$GC,1033,-1.77,-122.2,78.2,-7.7,99,1037,0.00,2.60,0.00,0.000,4,0.000,0.062,2505,645,3783
$GC,1152,-1.77,-122.2,87.7,-7.7,107,1159,0.00,2.47,0.00,0.000,6,0.000,0.038,2505,2058,3782
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1331,-0.42,0.0,100.6,7.9,121,1484,1.48,0.00,144.10,0.637,6,0.109,0.000,2798,2494,3281
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1488,1.77,122.2,103.3,0.0,134,1642,2.20,2.70,142.62,0.612,4,0.058,0.077,3291,3888,2781
$GC,1668,1.77,122.2,85.8,14.1,148,1673,0.00,2.47,0.00,0.000,6,0.000,0.041,3291,2491,2782
$GC,1864,1.77,122.2,58.2,13.7,163,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2488,2781
$GC,2057,1.77,122.2,32.6,13.3,178,2061,0.00,2.65,0.00,0.000,4,0.000,0.072,3291,3891,2781
$GC,2129,1.77,122.2,21.8,13.9,183,2133,0.00,2.45,0.00,0.000,6,0.000,0.040,3291,2492,2781
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,0.2,1.013331
$STATE,2391,end surface coast,CONTROL_FINISHED_OK
$STATE,2391,begin surface
$SM_CCo,2421,126.78,0.571,0,0,1649,400.08
$SM_GC,0.85,0.00,0.00,126.78,0.000,0.000,0.571,135,2039,1649,-12.69,-0.31,400.08
$IRIDIUM_FIX,4722.92,-12256.21,220907,111124
$TT8_MAMPS,0.068263
$HUMID,2107
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.60
$XPDR_PINGS,130
$ALTIM_TOP_PING,9.5,999.0
$24V_AH,23.9,9.409
$10V_AH,10.1,4.929
$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,33.400,27.075,286.725,126.775,0.000,32.772,51.808,128.776,33.250,0.000,3041.000,15.491,412.137,1211.708,485.239,436.360,371.990,33.330,749.342,0.000,418.458,0.000,5.673
$DEVICE_MAMPS,211.692,77.467,637.377,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.320,0.000,0.000,0.000,0.000,0.000,0.000,3041.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,221
$CFSIZE,260034560,255815680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,091609,4738.679,-12252.555,8,1.7,8,18.3