version: 66.02
glider: 116
mission: 4
dive: 16
start: 9 21 107 12 22 47
data:
$ID,116
$MISSION,4
$DIVE,16
$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,-25252.545
$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,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,19
$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
$GPS1,121645,4739.165,-12251.494,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.3
$GPS2,122138,4739.179,-12251.443,11,1.8,11,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,-0.083
$KALMAN_X,3451.5,609.2,312.7,-2439.5,104.7
$KALMAN_Y,2649.2,484.3,98.1,-3630.8,1.1
$MHEAD_RNG_PITCHd_Wd,231.5,770,-19.5,-10.101
$D_GRID,123
$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,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.58,0.000,2,0.000,0.000,133,2240,3109
$GC,97,-1.77,-122.2,2.3,-5.2,10,140,15.15,2.60,-19.50,0.000,4,0.202,0.069,2506,848,3782
$GC,214,-1.77,-122.2,11.6,-8.7,28,220,0.00,2.58,0.00,0.000,6,0.000,0.038,2505,2255,3783
$GC,287,-1.77,-122.2,17.2,-7.5,39,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2255,3783
$GC,357,-1.77,-122.2,22.3,-7.6,48,362,0.00,2.60,0.00,0.000,4,0.000,0.055,2504,840,3784
$GC,457,-1.77,-122.2,30.1,-8.2,55,461,0.00,2.53,0.00,0.000,6,0.000,0.039,2504,2250,3783
$GC,652,-1.77,-122.2,46.8,-8.4,70,657,0.00,2.58,0.00,0.000,4,0.000,0.056,2505,848,3784
$GC,780,-1.77,-122.2,57.9,-8.6,79,784,0.00,2.50,0.00,0.000,6,0.000,0.040,2505,2258,3784
$GC,982,-1.77,-122.2,75.1,-8.7,95,987,0.00,2.60,0.00,0.000,4,0.000,0.056,2504,843,3784
$GC,1154,-1.77,-122.2,90.6,-8.9,107,1160,0.00,2.50,0.00,0.000,6,0.000,0.040,2505,2253,3784
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1272,begin apogee
$GC,1279,-0.42,0.0,100.8,8.4,117,1430,1.48,0.00,144.80,0.641,6,0.106,0.000,2797,2455,3281
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1436,1.77,122.2,104.4,0.0,130,1590,2.20,2.72,142.27,0.618,4,0.058,0.079,3278,3857,2782
$GC,1735,1.77,122.2,72.9,14.0,153,1740,0.00,2.50,0.00,0.000,6,0.000,0.040,3278,2445,2782
$GC,1931,1.77,122.2,48.1,12.8,168,1935,0.00,2.67,0.00,0.000,4,0.000,0.071,3278,3859,2782
$GC,1975,1.77,122.2,41.9,14.2,171,1983,0.00,2.53,0.00,0.000,6,0.000,0.039,3278,2446,2781
$GC,2173,1.77,122.2,17.0,12.5,188,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2444,2781
$GC,2245,1.77,122.2,8.5,11.2,199,2251,0.00,2.65,0.00,0.000,4,0.000,0.069,3278,3852,2781
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,0.3,1.020561
$STATE,2355,end surface coast,CONTROL_FINISHED_OK
$STATE,2355,begin surface
$SM_CCo,2388,133.20,0.577,0,0,1651,400.08
$SM_GC,0.95,0.00,0.00,133.20,0.000,0.000,0.577,134,2238,1651,-12.70,-0.37,400.08
$IRIDIUM_FIX,4722.92,-12256.21,210907,151521
$TT8_MAMPS,0.066729
$HUMID,2099
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,112
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.3,6.927
$10V_AH,10.0,3.353
$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,33.375,36.825,287.075,133.200,0.000,40.916,32.695,108.496,28.750,106.040,2819.960,11.927,410.142,1158.432,499.523,433.697,342.364,33.328,781.404,0.000,421.424,0.000,5.670
$DEVICE_MAMPS,202.488,79.001,641.212,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.606,0.000,0.000,0.000,0.000,0.000,0.000,2926.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,216
$CFSIZE,260034560,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,130559,4739.117,-12251.596,14,4.6,33,18.3