version: 66.02
glider: 116
mission: 4
dive: 46
start: 9 22 107 11 30 43
data:
$ID,116
$MISSION,4
$DIVE,46
$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,-25957.244
$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,28
$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
$GPS1,112333,4738.432,-12252.262,8,1.9,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.9
$GPS2,112935,4738.458,-12252.242,15,4.4,34,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.221,0.082
$KALMAN_X,8901.3,564.6,82.1,-8609.3,107.9
$KALMAN_Y,3402.3,153.2,50.4,-5334.7,21.8
$MHEAD_RNG_PITCHd_Wd,272.0,241,-19.8,-10.101
$D_GRID,69
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.80,-117.8,0.0,0.0,0,92,0.00,0.00,-60.50,0.000,2,0.000,0.000,133,2042,3095
$GC,96,-1.80,-122.2,2.2,-4.9,10,139,15.20,2.62,-19.92,0.000,4,0.210,0.072,2495,3458,3781
$GC,168,-1.80,-122.2,8.1,-11.8,21,174,0.00,2.47,0.00,0.000,6,0.000,0.038,2495,2046,3782
$GC,241,-1.80,-122.2,14.5,-8.1,32,247,0.00,2.60,0.00,0.000,4,0.000,0.061,2495,3459,3783
$GC,498,-1.80,-122.2,35.7,-8.3,57,504,0.00,2.47,0.00,0.000,6,0.000,0.037,2495,2045,3784
$GC,694,-1.80,-122.2,51.5,-8.3,73,698,0.00,2.60,0.00,0.000,4,0.000,0.061,2495,3458,3784
$GC,773,-1.80,-122.2,58.4,-8.4,78,779,0.00,2.47,0.00,0.000,6,0.000,0.038,2495,2045,3784
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,910,-0.42,0.0,69.2,7.9,89,1062,1.52,0.00,143.43,0.613,6,0.107,0.000,2797,2504,3281
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1068,1.80,122.2,70.9,0.0,102,1220,2.22,2.67,141.10,0.591,4,0.059,0.076,3293,3885,2782
$GC,1305,1.80,122.2,43.6,14.7,120,1312,0.00,2.47,0.00,0.000,6,0.000,0.039,3293,2499,2782
$GC,1502,1.80,122.2,16.8,12.6,137,1509,0.00,2.53,0.00,0.000,4,0.000,0.054,3293,1101,2782
$GC,1535,1.80,122.2,12.4,13.5,142,1541,0.00,2.50,0.00,0.000,6,0.000,0.041,3293,2502,2782
$GC,1608,1.80,122.2,4.3,10.3,153,1614,0.00,2.55,0.00,0.000,4,0.000,0.051,3293,1096,2781
$STATE,1651,end climb,SURFACE_DEPTH_REACHED
$STATE,1651,begin surface coast
$FINISH,0.7,1.020261
$STATE,1692,end surface coast,CONTROL_FINISHED_OK
$STATE,1692,begin surface
$SM_CCo,1722,130.32,0.562,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,130.32,0.000,0.000,0.562,137,2061,1649,-12.69,0.31,400.08
$IRIDIUM_FIX,4722.92,-12339.63,220907,141435
$TT8_MAMPS,0.066729
$HUMID,2101
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.80
$XPDR_PINGS,64
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.9,9.764
$10V_AH,10.1,5.149
$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,33.900,30.550,284.525,130.325,0.000,40.997,48.715,126.240,16.250,0.000,2328.000,35.626,309.562,726.090,495.260,353.885,358.854,33.324,724.149,0.000,318.591,0.000,2.550
$DEVICE_MAMPS,210.158,75.933,612.833,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,107.340,0.000,0.000,0.000,0.000,0.000,0.000,2328.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3320,166
$CFSIZE,260034560,255717376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,120244,4738.588,-12252.230,15,1.4,32,18.3