version: 66.02
glider: 116
mission: 4
dive: 52
start: 9 22 107 16 23 0
data:
$ID,116
$MISSION,4
$DIVE,52
$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,-26101.697
$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,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
$GPS1,161537,4738.776,-12252.217,15,1.1,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.4
$GPS2,162151,4738.802,-12252.177,13,1.1,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,0.150
$KALMAN_X,10112.7,682.6,186.5,-9957.1,-54.7
$KALMAN_Y,3529.5,162.0,27.3,-4814.0,-39.4
$MHEAD_RNG_PITCHd_Wd,15.8,429,-22.8,-8.889
$D_GRID,128
$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,31,-1.99,-73.3,0.0,0.0,0,92,0.00,0.00,-58.75,0.000,2,0.000,0.000,134,2050,3056
$GC,95,-2.02,-97.8,2.1,-4.5,10,139,14.93,2.60,-21.12,0.000,4,0.210,0.071,2451,3460,3680
$GC,389,-2.02,-97.8,22.6,-6.9,52,396,0.00,2.47,0.00,0.000,6,0.000,0.038,2450,2044,3683
$GC,586,-2.02,-97.8,35.6,-7.1,68,590,0.00,2.62,0.00,0.000,4,0.000,0.061,2451,3466,3684
$GC,783,-2.02,-97.8,51.4,-7.9,82,790,0.00,2.50,0.00,0.000,6,0.000,0.039,2450,2052,3683
$GC,980,-2.02,-97.8,66.0,-7.9,98,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2052,3684
$GC,1171,-2.02,-97.8,80.1,-7.5,113,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2052,3683
$GC,1360,-2.02,-97.8,94.2,-7.7,128,1364,0.00,2.60,0.00,0.000,4,0.000,0.067,2451,655,3683
$GC,1486,-2.02,-97.8,104.9,-8.5,137,1493,0.00,2.50,0.00,0.000,6,0.000,0.039,2451,2067,3683
$GC,1682,-2.02,-97.8,119.7,-7.1,153,1687,0.00,2.65,0.00,0.000,4,0.000,0.063,2450,642,3683
$STATE,1692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1693,begin apogee
$GC,1702,-0.42,0.0,120.6,6.7,154,1828,1.77,0.00,116.78,0.654,6,0.116,0.000,2800,2492,3281
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1831,begin climb
$GC,1834,2.02,97.8,122.3,0.0,165,1962,2.42,2.78,114.55,0.630,4,0.058,0.081,3340,3888,2882
$GC,2067,2.02,97.8,93.4,16.4,183,2074,0.00,2.55,0.00,0.000,6,0.000,0.039,3340,2501,2882
$GC,2263,2.02,97.8,63.6,15.4,199,2268,0.00,2.65,0.00,0.000,4,0.000,0.073,3340,3892,2882
$GC,2341,2.02,97.8,51.1,16.0,204,2348,0.00,2.50,0.00,0.000,6,0.000,0.039,3340,2496,2881
$GC,2537,2.02,97.8,23.1,13.6,220,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2493,2881
$GC,2736,2.12,175.1,2.4,2.6,248,2767,0.00,0.00,29.00,0.604,2,0.000,0.000,3340,2493,2653
$STATE,2768,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,0.2,1.020284
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2910,108.80,0.576,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,108.80,0.000,0.000,0.576,133,2045,1649,-12.71,-0.14,400.08
$IRIDIUM_FIX,4719.74,-12254.47,220907,191938
$TT8_MAMPS,0.069797
$HUMID,2106
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.80
$XPDR_PINGS,132
$ALTIM_TOP_PING,9.2,999.0
$24V_AH,23.4,10.479
$10V_AH,10.0,5.552
$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,34.150,32.600,260.325,108.800,0.000,36.111,39.914,166.899,34.250,112.060,3401.940,13.319,494.133,1547.198,452.252,507.714,418.647,33.333,755.637,0.000,489.550,0.000,10.713
$DEVICE_MAMPS,210.158,80.535,654.251,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.250,0.000,0.000,0.000,0.000,0.000,0.000,3514.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6467,270
$CFSIZE,260034560,255512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,171426,4738.979,-12251.963,13,1.4,30,18.3