version: 66.02
glider: 116
mission: 4
dive: 28
start: 9 21 107 21 26 14
data:
$ID,116
$MISSION,4
$DIVE,28
$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,-25568.684
$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,26
$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
$GPS1,211915,4739.377,-12252.415,14,1.1,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.1
$GPS2,212503,4739.396,-12252.337,16,1.8,16,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.238,0.033
$KALMAN_X,4990.1,144.3,-112.9,-4198.5,179.5
$KALMAN_Y,2816.1,-123.9,-18.7,-2665.5,-31.0
$MHEAD_RNG_PITCHd_Wd,259.6,1087,-19.5,-10.101
$D_GRID,125
$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,-1.77,-122.2,0.0,0.0,0,91,0.00,0.00,-60.47,0.000,2,0.000,0.000,129,2046,3085
$GC,95,-1.77,-122.2,2.0,-4.1,10,139,15.18,2.58,-22.00,0.000,4,0.206,0.073,2504,654,3781
$GC,167,-1.77,-122.2,5.8,-7.3,21,174,0.00,2.50,0.00,0.000,6,0.000,0.039,2504,2067,3781
$GC,240,-1.77,-122.2,12.2,-8.8,32,246,0.00,2.55,0.00,0.000,4,0.000,0.065,2504,3451,3782
$GC,293,-1.77,-122.2,16.3,-7.6,40,299,0.00,2.47,0.00,0.000,6,0.000,0.038,2504,2039,3782
$GC,372,-1.77,-122.2,22.1,-7.3,50,376,0.00,2.55,0.00,0.000,4,0.000,0.062,2504,652,3783
$GC,504,-1.77,-122.2,32.7,-7.9,59,510,0.00,2.45,0.00,0.000,6,0.000,0.038,2504,2050,3783
$GC,700,-1.77,-122.2,47.4,-7.7,75,704,0.00,2.60,0.00,0.000,4,0.000,0.063,2503,647,3783
$GC,905,-1.77,-122.2,65.3,-8.4,90,909,0.00,2.47,0.00,0.000,6,0.000,0.038,2504,2053,3783
$GC,1101,-1.77,-122.2,82.0,-8.6,105,1105,0.00,2.60,0.00,0.000,4,0.000,0.062,2504,649,3783
$GC,1240,-1.77,-122.2,94.4,-9.2,115,1244,0.00,2.45,0.00,0.000,6,0.000,0.039,2504,2049,3783
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1323,-0.42,0.0,100.8,8.2,121,1473,1.50,0.00,143.62,0.644,6,0.110,0.000,2799,2498,3281
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,1.77,122.2,104.7,0.0,134,1633,2.20,2.72,141.88,0.617,4,0.058,0.081,3283,3894,2782
$GC,1754,1.77,122.2,74.8,14.3,155,1758,0.00,2.47,0.00,0.000,6,0.000,0.040,3282,2489,2783
$GC,1956,1.77,122.2,47.6,13.3,171,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2487,2782
$GC,2147,1.77,122.2,22.1,13.8,186,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2487,2782
$STATE,2320,end climb,SURFACE_DEPTH_REACHED
$STATE,2320,begin surface coast
$FINISH,0.3,1.010228
$STATE,2341,end surface coast,CONTROL_FINISHED_OK
$STATE,2341,begin surface
$SM_CCo,2372,125.68,0.575,0,0,1649,400.08
$SM_GC,0.89,0.00,0.00,125.68,0.000,0.000,0.575,133,2045,1649,-12.71,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12247.38,220907,000007
$TT8_MAMPS,0.067496
$HUMID,2100
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,122
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.9,8.101
$10V_AH,10.0,4.062
$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,33.275,32.050,285.500,125.675,0.000,37.898,35.146,152.897,31.250,0.000,2973.000,16.127,409.492,1161.580,481.706,439.631,385.485,33.334,757.258,0.000,418.102,0.000,7.378
$DEVICE_MAMPS,206.323,81.302,643.513,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.499,0.000,0.000,0.000,0.000,0.000,0.000,2973.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,214
$CFSIZE,260034560,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,220839,4739.412,-12252.596,11,1.6,11,18.3