version: 66.02
glider: 116
mission: 4
dive: 43
start: 9 22 107 9 23 6
data:
$ID,116
$MISSION,4
$DIVE,43
$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,-25870.238
$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,31
$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
$GPS1,091609,4738.679,-12252.555,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.7
$GPS2,092156,4738.709,-12252.509,13,1.6,30,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.010,-0.208
$KALMAN_X,8148.3,433.2,113.4,-8085.8,115.4
$KALMAN_Y,3283.1,76.3,-27.8,-4605.1,89.8
$MHEAD_RNG_PITCHd_Wd,159.0,354,-22.8,-10.101
$D_GRID,133
$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,-2.01,-90.2,0.0,0.0,0,91,0.00,0.00,-60.47,0.000,2,0.000,0.000,136,2039,3100
$GC,95,-2.05,-122.2,2.3,-5.4,10,138,14.90,2.60,-19.48,0.000,4,0.212,0.075,2443,662,3782
$GC,218,-2.05,-122.2,13.1,-9.4,29,224,0.00,2.45,0.00,0.000,6,0.000,0.038,2443,2059,3783
$GC,291,-2.05,-122.2,19.4,-8.2,40,297,0.00,2.55,0.00,0.000,4,0.000,0.061,2443,3454,3784
$GC,336,-2.05,-122.2,23.5,-9.0,44,343,0.00,2.45,0.00,0.000,6,0.000,0.037,2443,2052,3784
$GC,533,-2.05,-122.2,40.5,-9.0,60,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2052,3785
$GC,726,-2.05,-122.2,58.2,-9.3,75,730,0.00,2.58,0.00,0.000,4,0.000,0.064,2443,653,3785
$GC,785,-2.05,-122.2,64.6,-10.3,79,789,0.00,2.47,0.00,0.000,6,0.000,0.041,2443,2055,3784
$GC,981,-2.05,-122.2,83.5,-9.6,94,985,0.00,2.58,0.00,0.000,4,0.000,0.063,2443,653,3785
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1160,-0.42,0.0,100.5,9.6,107,1311,1.80,0.00,144.73,0.634,6,0.117,0.000,2800,2495,3281
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1317,2.05,122.2,103.5,0.0,120,1470,2.42,2.70,142.48,0.611,4,0.057,0.079,3342,3889,2782
$GC,1563,2.05,122.2,72.2,16.9,139,1568,0.00,2.47,0.00,0.000,6,0.000,0.040,3343,2491,2782
$GC,1759,2.05,122.2,41.1,15.8,154,1763,0.00,2.65,0.00,0.000,4,0.000,0.072,3343,3889,2782
$GC,1818,2.05,122.2,31.2,16.6,158,1822,0.00,2.45,0.00,0.000,6,0.000,0.040,3343,2500,2781
$GC,2019,2.07,137.9,3.2,8.9,182,2038,0.00,2.65,12.25,0.622,4,0.000,0.070,3343,3889,2718
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.1,1.011132
$STATE,2069,end surface coast,CONTROL_FINISHED_OK
$STATE,2071,begin surface
$SM_CCo,2103,117.60,0.567,0,0,1650,400.08
$SM_GC,0.98,0.00,0.00,117.60,0.000,0.000,0.567,134,2042,1650,-12.70,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12256.21,220907,121220
$TT8_MAMPS,0.066729
$HUMID,2087
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,106
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,9.500
$10V_AH,10.1,4.987
$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,33.925,37.275,299.450,117.600,0.000,39.142,38.637,131.899,27.250,0.000,2688.000,30.648,361.057,988.889,487.880,399.171,360.999,33.327,741.350,0.000,363.971,0.000,5.672
$DEVICE_MAMPS,211.692,79.001,634.309,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.927,0.000,0.000,0.000,0.000,0.000,0.000,2688.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,190
$CFSIZE,260034560,255791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,100107,4738.572,-12252.251,13,2.0,23,18.3