version: 66.02
glider: 116
mission: 4
dive: 47
start: 9 22 107 12 9 32
data:
$ID,116
$MISSION,4
$DIVE,47
$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,-25970.635
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,120244,4738.588,-12252.230,15,1.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.1
$GPS2,120821,4738.610,-12252.195,12,1.9,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.203,-0.082
$KALMAN_X,9152.9,612.5,104.1,-8873.0,148.9
$KALMAN_Y,3487.0,185.8,74.0,-5201.1,21.6
$MHEAD_RNG_PITCHd_Wd,229.7,295,-21.6,-10.101
$D_GRID,124
$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,-1.93,-100.1,0.0,0.0,0,91,0.00,0.00,-60.50,0.000,2,0.000,0.000,138,2061,3113
$GC,95,-1.95,-122.2,2.2,-4.4,10,138,15.30,2.65,-19.10,0.000,4,0.211,0.073,2463,663,3782
$GC,388,-1.95,-122.2,28.9,-9.0,47,395,0.00,2.45,0.00,0.000,6,0.000,0.037,2464,2054,3783
$GC,585,-1.95,-122.2,45.1,-8.1,63,589,0.00,2.62,0.00,0.000,4,0.000,0.062,2463,651,3784
$GC,843,-1.95,-122.2,69.6,-9.6,82,847,0.00,2.47,0.00,0.000,6,0.000,0.039,2463,2050,3784
$GC,1038,-1.95,-122.2,89.5,-10.3,97,1043,0.00,2.60,0.00,0.000,4,0.000,0.061,2463,649,3784
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1160,-0.42,0.0,100.6,9.5,105,1311,1.70,0.00,144.93,0.634,6,0.116,0.000,2799,2501,3281
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1317,1.95,122.2,103.6,0.0,118,1471,2.35,2.70,142.68,0.608,4,0.058,0.077,3324,3894,2781
$GC,1609,1.95,122.2,65.5,17.4,140,1616,0.00,2.50,0.00,0.000,6,0.000,0.041,3324,2500,2782
$GC,1806,1.95,122.2,35.1,15.4,156,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2498,2782
$GC,1999,1.95,122.2,7.6,12.8,177,2005,0.00,2.62,0.00,0.000,4,0.000,0.071,3324,3890,2781
$STATE,2049,end climb,SURFACE_DEPTH_REACHED
$STATE,2049,begin surface coast
$FINISH,0.8,1.020258
$STATE,2072,end surface coast,CONTROL_FINISHED_OK
$STATE,2072,begin surface
$SM_CCo,2104,137.62,0.567,0,0,1649,400.08
$SM_GC,0.90,0.00,0.00,137.62,0.000,0.000,0.567,134,2043,1649,-12.70,-0.20,400.08
$IRIDIUM_FIX,4719.74,-12254.47,220907,151540
$TT8_MAMPS,0.066729
$HUMID,2105
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,95
$ALTIM_TOP_PING,9.2,999.0
$24V_AH,23.3,9.884
$10V_AH,10.1,5.208
$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,34.375,27.325,287.600,137.625,0.000,39.855,41.090,135.917,24.500,99.270,2608.730,12.762,353.501,1002.460,494.924,396.558,363.220,33.323,743.033,0.000,379.408,0.000,7.526
$DEVICE_MAMPS,210.925,77.467,634.309,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.926,0.000,0.000,0.000,0.000,0.000,0.000,2708.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,188
$CFSIZE,260034560,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,124744,4738.502,-12252.179,8,1.7,13,18.3