version: 66.02
glider: 116
mission: 4
dive: 68
start: 9 23 107 8 34 18
data:
$ID,116
$MISSION,4
$DIVE,68
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$T_MISSION,80
$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,100
$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,-26505.996
$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,20
$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
$GPS1,082407,4738.528,-12252.170,37,1.5,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.5
$GPS2,083309,4738.570,-12252.145,15,1.8,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.137,-0.070
$KALMAN_X,11919.4,-10.6,63.7,-10911.8,-37.2
$KALMAN_Y,4066.7,108.8,55.3,-5759.4,76.1
$MHEAD_RNG_PITCHd_Wd,224.7,328,-27.1,-8.889
$D_GRID,115
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.32,-52.9,0.0,0.0,0,93,0.00,0.00,-60.50,0.000,2,0.000,0.000,136,2042,3126
$GC,97,-2.36,-82.6,2.3,-5.5,10,134,14.65,2.55,-15.65,0.000,4,0.216,0.074,2378,657,3617
$GC,386,-2.38,-97.8,20.2,-6.0,54,392,0.00,2.47,-0.90,0.000,6,0.000,0.037,2378,2062,3683
$GC,582,-2.38,-97.8,35.4,-7.9,69,586,0.00,2.60,0.00,0.000,4,0.000,0.060,2378,652,3684
$GC,792,-2.38,-97.8,54.1,-9.0,84,799,0.00,2.47,0.00,0.000,6,0.000,0.038,2378,2041,3685
$GC,989,-2.38,-97.8,71.3,-8.7,100,993,0.00,2.58,0.00,0.000,4,0.000,0.061,2379,652,3684
$GC,1040,-2.38,-97.8,76.2,-9.6,103,1047,0.00,2.50,0.00,0.000,6,0.000,0.038,2378,2054,3684
$GC,1237,-2.38,-97.8,93.2,-9.4,119,1241,0.00,2.60,0.00,0.000,4,0.000,0.061,2379,651,3685
$GC,1407,-2.38,-97.8,110.8,-10.8,131,1414,0.00,2.50,0.00,0.000,6,0.000,0.039,2379,2048,3685
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1470,-0.42,0.0,115.8,9.0,136,1592,2.20,0.00,117.20,0.647,6,0.127,0.000,2796,2500,3281
$STATE,1593,end apogee,CONTROL_FINISHED_OK
$STATE,1593,begin climb
$GC,1598,2.38,97.8,117.3,0.0,146,1725,2.80,2.72,114.68,0.621,4,0.057,0.079,3420,3880,2882
$GC,1911,2.38,97.8,66.5,19.3,170,1918,0.00,2.45,0.00,0.000,6,0.000,0.040,3420,2492,2882
$GC,2107,2.38,97.8,30.6,18.4,186,2111,0.00,2.65,0.00,0.000,4,0.000,0.071,3419,3890,2882
$GC,2233,2.38,97.8,7.5,17.4,200,2239,0.00,2.45,0.00,0.000,6,0.000,0.039,3420,2498,2881
$STATE,2276,end climb,SURFACE_DEPTH_REACHED
$STATE,2276,begin surface coast
$FINISH,0.8,1.019953
$STATE,2291,end surface coast,CONTROL_FINISHED_OK
$STATE,2291,begin surface
$SM_CCo,2323,145.35,0.567,0,0,1647,400.08
$SM_GC,0.97,0.00,0.00,145.35,0.000,0.000,0.567,136,2047,1647,-12.69,-0.08,400.08
$IRIDIUM_FIX,4719.74,-12254.47,230907,121214
$TT8_MAMPS,0.066729
$HUMID,2074
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.90
$XPDR_PINGS,106
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,12.187
$10V_AH,10.1,6.761
$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,34.950,32.175,231.875,145.350,0.000,75.125,73.671,203.990,27.500,53.010,3100.990,15.212,407.516,1218.045,461.269,436.071,516.197,33.344,723.221,0.000,416.975,0.000,7.232
$DEVICE_MAMPS,215.527,79.001,646.581,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.609,0.000,0.000,0.000,0.000,0.000,0.000,3154.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,209
$CFSIZE,260034560,254984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,091632,4738.467,-12252.319,12,1.6,29,18.3