version: 66.02
glider: 116
mission: 4
dive: 64
start: 9 23 107 4 26 4
data:
$ID,116
$MISSION,4
$DIVE,64
$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,-26378.781
$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,29
$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
$GPS1,041956,4738.512,-12252.965,42,1.5,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.2
$GPS2,042456,4738.518,-12252.953,15,1.6,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.037
$KALMAN_X,11787.1,-163.3,201.8,-11775.1,185.7
$KALMAN_Y,3635.8,-69.9,201.9,-5388.7,125.2
$MHEAD_RNG_PITCHd_Wd,240.2,312,-22.3,-8.889
$D_GRID,139
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.95,-76.6,0.0,0.0,0,86,0.00,0.00,-54.58,0.000,2,0.000,0.000,134,2046,2953
$GC,90,-1.98,-97.8,2.1,-4.6,9,139,15.23,2.62,-23.95,0.000,4,0.216,0.073,2461,656,3681
$GC,365,-1.98,-97.8,20.8,-6.8,51,369,0.00,2.47,0.00,0.000,6,0.000,0.038,2461,2064,3683
$GC,561,-1.98,-97.8,33.2,-6.4,66,565,0.00,2.60,0.00,0.000,4,0.000,0.060,2461,652,3684
$GC,620,-1.98,-97.8,37.3,-6.7,70,624,0.00,2.45,0.00,0.000,6,0.000,0.038,2461,2050,3684
$GC,816,-1.98,-97.8,51.1,-7.5,85,820,0.00,2.58,0.00,0.000,4,0.000,0.062,2461,657,3684
$GC,1000,-1.98,-97.8,65.0,-7.4,98,1007,0.00,2.45,0.00,0.000,6,0.000,0.039,2461,2052,3684
$GC,1196,-1.98,-97.8,79.1,-7.5,114,1200,0.00,2.58,0.00,0.000,4,0.000,0.063,2461,651,3684
$GC,1255,-1.98,-97.8,83.7,-7.1,118,1261,0.00,2.45,0.00,0.000,6,0.000,0.038,2461,2052,3684
$GC,1451,-1.98,-97.8,97.7,-6.9,134,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2052,3684
$GC,1643,-1.98,-97.8,110.3,-6.5,149,1647,0.00,2.58,0.00,0.000,4,0.000,0.063,2461,656,3684
$GC,1747,-1.98,-97.8,117.9,-6.6,156,1754,0.00,2.45,0.00,0.000,6,0.000,0.039,2461,2053,3684
$STATE,1790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1791,begin apogee
$GC,1798,-0.42,0.0,120.8,6.8,160,1919,1.73,0.00,117.03,0.654,6,0.118,0.000,2797,2493,3282
$STATE,1920,end apogee,CONTROL_FINISHED_OK
$STATE,1920,begin climb
$GC,1925,1.98,97.8,121.9,0.0,170,2053,2.40,2.72,114.80,0.631,4,0.059,0.077,3330,3879,2882
$GC,2126,1.98,97.8,97.2,16.3,186,2130,0.00,2.45,0.00,0.000,6,0.000,0.040,3330,2496,2882
$GC,2321,1.98,97.8,68.1,14.4,201,2325,0.00,2.65,0.00,0.000,4,0.000,0.072,3330,3891,2882
$GC,2380,1.98,97.8,58.8,16.2,205,2384,0.00,2.45,0.00,0.000,6,0.000,0.039,3330,2498,2881
$GC,2576,1.98,97.8,30.3,14.3,220,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2495,2881
$GC,2770,1.98,97.8,5.4,11.7,244,2777,0.00,2.62,0.00,0.000,4,0.000,0.070,3330,3891,2881
$STATE,2801,end climb,SURFACE_DEPTH_REACHED
$STATE,2801,begin surface coast
$FINISH,0.7,1.019920
$STATE,2822,end surface coast,CONTROL_FINISHED_OK
$STATE,2822,begin surface
$SM_CCo,2855,146.95,0.576,0,0,1648,400.08
$SM_GC,0.87,0.00,0.00,146.95,0.000,0.000,0.576,135,2051,1648,-12.70,0.00,400.08
$IRIDIUM_FIX,4719.74,-12251.79,230907,070708
$TT8_MAMPS,0.06903
$HUMID,2106
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,172
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,11.771
$10V_AH,10.1,6.458
$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,34.150,42.225,231.825,146.950,0.000,38.999,31.550,93.932,44.250,0.000,3442.000,33.004,480.343,1546.423,467.728,500.696,334.686,33.337,761.294,0.000,467.140,0.000,8.791
$DEVICE_MAMPS,216.294,76.700,654.251,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.951,0.000,0.000,0.000,0.000,0.000,0.000,3442.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,252
$CFSIZE,260034560,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,051717,4738.438,-12253.266,14,2.2,33,18.3