version: 66.02
glider: 116
mission: 4
dive: 77
start: 9 23 107 15 58 56
data:
$ID,116
$MISSION,4
$DIVE,77
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,35
$T_MISSION,70
$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,-26685.562
$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,30
$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
$GPS1,155159,4738.490,-12252.451,10,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.4
$GPS2,155745,4738.501,-12252.407,9,1.5,9,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,0.185
$KALMAN_X,13848.5,409.5,70.6,-13591.3,107.0
$KALMAN_Y,4267.4,253.2,-16.5,-6156.2,70.5
$MHEAD_RNG_PITCHd_Wd,2.2,1055,-17.0,-7.619
$D_GRID,131
$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,-1.53,-97.8,0.0,0.0,0,84,0.00,0.00,-54.50,0.000,2,0.000,0.000,136,2047,2971
$GC,88,-1.53,-97.8,2.2,-4.1,9,131,15.57,2.58,-20.33,0.000,4,0.209,0.073,2558,654,3682
$GC,384,-1.53,-97.8,18.8,-6.1,54,390,0.00,2.45,0.00,0.000,6,0.000,0.038,2558,2057,3683
$GC,461,-1.53,-97.8,23.5,-6.1,62,465,0.00,2.60,0.00,0.000,4,0.000,0.060,2558,650,3683
$GC,718,-1.53,-97.8,40.7,-6.3,81,724,0.00,2.45,0.00,0.000,6,0.000,0.038,2558,2049,3683
$GC,915,-1.53,-97.8,51.7,-5.3,97,919,0.00,2.58,0.00,0.000,4,0.000,0.062,2558,654,3683
$GC,1065,-1.53,-97.8,61.1,-6.8,108,1072,0.00,2.47,0.00,0.000,6,0.000,0.038,2558,2059,3683
$GC,1262,-1.53,-97.8,74.0,-6.4,124,1266,0.00,2.60,0.00,0.000,4,0.000,0.063,2558,657,3683
$GC,1308,-1.53,-97.8,77.3,-7.3,127,1312,0.00,2.45,0.00,0.000,6,0.000,0.039,2558,2049,3683
$STATE,1350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1350,begin apogee
$GC,1357,-0.42,0.0,80.2,6.4,130,1476,1.25,0.00,115.47,0.630,6,0.108,0.000,2799,2498,3281
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1482,1.53,97.8,82.2,0.0,140,1607,1.95,2.65,113.53,0.607,4,0.061,0.052,3229,1097,2882
$GC,1639,1.53,97.8,72.1,9.0,152,1646,0.00,2.55,0.00,0.000,6,0.000,0.041,3229,2502,2882
$GC,1835,1.53,97.8,52.9,9.9,168,1840,0.00,2.62,0.00,0.000,4,0.000,0.072,3229,3887,2882
$GC,1894,1.53,97.8,46.6,10.7,172,1898,0.00,2.45,0.00,0.000,6,0.000,0.039,3229,2496,2882
$GC,2090,1.53,97.8,27.2,10.0,187,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2495,2881
$GC,2284,1.53,97.8,8.4,9.3,211,2290,0.00,2.62,0.00,0.000,4,0.000,0.070,3229,3890,2881
$GC,2323,1.53,97.8,5.2,7.7,217,2330,0.00,2.45,0.00,0.000,6,0.000,0.039,3229,2499,2881
$GC,2396,1.69,222.9,3.8,1.0,228,2458,0.15,0.00,58.85,0.590,2,0.052,0.000,3272,2499,2425
$STATE,2459,end climb,SURFACE_DEPTH_REACHED
$STATE,2459,begin surface coast
$FINISH,0.1,1.007129
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2535,83.93,0.571,0,0,1649,400.08
$SM_GC,1.03,0.00,0.00,83.93,0.000,0.000,0.571,133,2049,1649,-12.70,-0.06,400.08
$IRIDIUM_FIX,4722.92,-12256.21,230907,191932
$TT8_MAMPS,0.066729
$HUMID,2095
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.70
$XPDR_PINGS,99
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.5,13.122
$10V_AH,10.1,7.340
$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,33.475,37.175,287.850,83.925,0.000,40.996,43.970,138.192,25.000,58.920,3060.080,9.983,450.909,1240.896,449.678,457.687,395.800,33.338,734.400,0.000,445.535,0.000,2.548
$DEVICE_MAMPS,209.391,72.865,629.707,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.801,0.000,0.000,0.000,0.000,0.000,0.000,3119.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,245
$CFSIZE,260034560,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,164326,4738.706,-12252.400,9,1.9,14,18.3