version: 66.02
glider: 116
mission: 4
dive: 72
start: 9 23 107 11 34 27
data:
$ID,116
$MISSION,4
$DIVE,72
$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,-26582.471
$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
$GPS1,112735,4738.513,-12252.557,12,3.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.8
$GPS2,113317,4738.549,-12252.527,11,3.0,30,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.114,0.103
$KALMAN_X,12805.9,192.3,-129.1,-12280.8,278.8
$KALMAN_Y,3751.9,239.1,-121.3,-5431.8,-144.5
$MHEAD_RNG_PITCHd_Wd,293.9,160,-27.1,-8.889
$D_GRID,136
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-2.32,-52.9,0.0,0.0,0,84,0.00,0.00,-54.47,0.000,2,0.000,0.000,137,2040,2964
$GC,88,-2.37,-93.1,2.1,-4.4,9,131,14.82,2.58,-20.98,0.000,4,0.220,0.074,2372,654,3663
$GC,382,-2.38,-97.8,24.4,-7.6,50,390,0.00,2.47,-0.22,0.000,6,0.000,0.037,2372,2065,3683
$GC,579,-2.38,-97.8,40.5,-8.6,66,583,0.00,2.60,0.00,0.000,4,0.000,0.059,2372,654,3684
$GC,836,-2.38,-97.8,65.1,-10.1,85,841,0.00,2.45,0.00,0.000,6,0.000,0.038,2372,2047,3684
$GC,1032,-2.38,-97.8,84.4,-10.5,100,1036,0.00,2.60,0.00,0.000,4,0.000,0.061,2372,646,3684
$GC,1292,-2.38,-97.8,110.6,-10.3,119,1296,0.00,2.47,0.00,0.000,6,0.000,0.038,2372,2050,3684
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1392,-0.42,0.0,120.4,10.1,126,1519,2.22,0.00,117.03,0.650,6,0.127,0.000,2799,2499,3281
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1525,2.38,97.8,123.0,0.0,137,1653,2.80,2.72,114.62,0.627,4,0.058,0.076,3417,3888,2883
$GC,1797,2.38,97.8,83.0,18.4,158,1804,0.00,2.50,0.00,0.000,6,0.000,0.041,3417,2493,2883
$GC,1994,2.38,97.8,48.1,18.4,174,1998,0.00,2.65,0.00,0.000,4,0.000,0.071,3417,3891,2882
$GC,2112,2.38,97.8,26.1,18.3,183,2117,0.00,2.47,0.00,0.000,6,0.000,0.041,3418,2493,2882
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2287,begin surface coast
$FINISH,2.4,1.019870
$STATE,2335,end surface coast,CONTROL_FINISHED_OK
$STATE,2335,begin surface
$SM_CCo,2342,293.55,0.553,3,0,583,662.06
$SM_GC,0.99,14.88,0.00,0.00,0.048,0.000,0.000,133,2051,584,-12.67,0.00,661.33
$IRIDIUM_FIX,4722.92,-12335.20,230907,141405
$TT8_MAMPS,0.067496
$HUMID,2091
$INTERNAL_PRESSURE,10.8403
$TCM_TEMP,19.70
$XPDR_PINGS,118
$ALTIM_TOP_PING,9.1,999.0
$24V_AH,23.5,12.596
$10V_AH,10.1,6.998
$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,34.725,27.150,231.650,293.550,0.000,37.042,37.034,128.830,30.750,58.030,2930.970,31.334,413.133,1279.343,615.018,475.234,354.766,33.348,883.322,0.000,438.102,0.000,10.735
$DEVICE_MAMPS,220.129,75.933,650.416,553.007,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.547,0.000,0.000,0.000,0.000,0.000,0.000,2989.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,213
$CFSIZE,260034560,254869504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,230907,122126,4738.693,-12252.545,13,1.5,18,18.3