version: 66.02
glider: 116
mission: 4
dive: 71
start: 9 23 107 10 49 19
data:
$ID,116
$MISSION,4
$DIVE,71
$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,-26550.508
$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
$GPS1,104250,4738.450,-12252.518,12,1.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.1
$GPS2,104808,4738.462,-12252.480,11,1.4,11,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.097,0.119
$KALMAN_X,12662.8,128.0,-130.0,-12016.5,278.7
$KALMAN_Y,3883.7,225.7,-78.7,-5752.4,-92.6
$MHEAD_RNG_PITCHd_Wd,302.5,163,-27.1,-8.889
$D_GRID,131
$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,-2.32,-52.9,0.0,0.0,0,85,0.00,0.00,-54.53,0.000,2,0.000,0.000,133,2042,2971
$GC,89,-2.37,-91.0,2.1,-4.6,9,132,14.77,2.62,-19.73,0.000,4,0.218,0.074,2375,652,3653
$GC,382,-2.38,-97.8,23.3,-7.7,51,390,0.00,2.47,-0.35,0.000,6,0.000,0.037,2375,2065,3683
$GC,579,-2.38,-97.8,39.3,-8.3,67,583,0.00,2.60,0.00,0.000,4,0.000,0.060,2375,654,3684
$GC,837,-2.38,-97.8,64.0,-10.3,86,841,0.00,2.45,0.00,0.000,6,0.000,0.038,2376,2050,3683
$GC,1032,-2.38,-97.8,82.1,-9.2,101,1036,0.00,2.60,0.00,0.000,4,0.000,0.061,2376,646,3684
$GC,1289,-2.38,-97.8,92.7,-0.2,120,1293,0.00,2.47,0.00,0.000,4,0.000,0.039,2375,2050,3683
$STATE,1294,end dive,NO_VERTICAL_VELOCITY
$STATE,1294,begin apogee
$GC,1301,-0.42,0.0,92.6,0.0,120,1423,2.03,0.00,116.20,0.634,6,0.086,0.000,2801,2498,3282
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1429,2.38,97.8,92.6,0.0,130,1556,2.78,2.72,114.07,0.610,4,0.058,0.072,3415,3891,2883
$GC,1780,2.38,97.8,38.7,18.1,157,1787,0.00,2.47,0.00,0.000,6,0.000,0.039,3416,2504,2882
$GC,1980,2.38,97.8,6.1,15.1,179,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2502,2882
$STATE,2023,end climb,SURFACE_DEPTH_REACHED
$STATE,2023,begin surface coast
$FINISH,1.7,1.019909
$STATE,2051,end surface coast,CONTROL_FINISHED_OK
$STATE,2051,begin surface
$SM_CCo,2084,143.10,0.565,0,0,1649,400.08
$SM_GC,0.96,0.00,0.00,143.10,0.000,0.000,0.565,137,2040,1649,-12.69,-0.28,400.08
$IRIDIUM_FIX,4719.74,-12254.47,230907,141420
$TT8_MAMPS,0.066729
$HUMID,2099
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,98
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.9,12.472
$10V_AH,10.1,6.932
$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,35.525,22.075,230.275,143.100,0.000,32.777,46.504,120.911,25.000,47.120,2638.880,11.962,369.992,1001.046,446.395,414.057,344.998,33.341,693.099,0.000,397.179,0.000,4.108
$DEVICE_MAMPS,217.828,74.399,633.542,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.930,0.000,0.000,0.000,0.000,0.000,0.000,2686.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,190
$CFSIZE,260034560,254906368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,112735,4738.513,-12252.557,12,3.5,31,18.3