version: 66.02
glider: 116
mission: 4
dive: 81
start: 9 23 107 19 31 45
data:
$ID,116
$MISSION,4
$DIVE,81
$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,-26762.945
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,192411,4739.166,-12252.110,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.8
$GPS2,193035,4739.190,-12252.058,11,4.9,30,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.177
$KALMAN_X,13846.8,302.1,97.8,-13075.8,-73.5
$KALMAN_Y,4235.0,157.2,147.6,-4915.4,-63.9
$MHEAD_RNG_PITCHd_Wd,315.4,668,-17.0,-7.619
$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,-1.53,-97.8,0.0,0.0,0,91,0.00,0.00,-60.55,0.000,2,0.000,0.000,137,2040,3129
$GC,95,-1.53,-97.8,2.3,-4.2,10,133,15.45,2.55,-15.85,0.000,4,0.206,0.073,2557,659,3680
$GC,385,-1.53,-97.8,22.5,-6.7,52,389,0.00,2.45,0.00,0.000,6,0.000,0.037,2557,2059,3682
$GC,581,-1.53,-97.8,33.8,-5.7,67,585,0.00,2.58,0.00,0.000,4,0.000,0.059,2556,659,3682
$GC,708,-1.53,-97.8,41.1,-6.0,76,712,0.00,2.45,0.00,0.000,6,0.000,0.038,2556,2052,3682
$GC,904,-1.53,-97.8,51.6,-5.2,91,908,0.00,2.58,0.00,0.000,4,0.000,0.061,2556,659,3682
$GC,996,-1.53,-97.8,57.3,-6.0,98,1001,0.00,2.45,0.00,0.000,6,0.000,0.038,2556,2049,3682
$GC,1192,-1.53,-97.8,69.2,-6.0,113,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2049,3682
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1375,-0.42,0.0,80.5,6.5,127,1495,1.23,0.00,115.10,0.630,6,0.110,0.000,2798,2497,3281
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1501,1.53,97.8,83.1,0.0,137,1621,1.98,0.00,113.50,0.607,6,0.061,0.000,3226,2497,2882
$GC,1811,1.53,97.8,55.9,10.9,162,1815,0.00,2.65,0.00,0.000,4,0.000,0.077,3225,3891,2882
$GC,1844,1.53,97.8,52.1,11.7,164,1848,0.00,2.47,0.00,0.000,6,0.000,0.039,3226,2492,2882
$GC,2046,1.53,97.8,29.4,10.9,180,2050,0.00,2.65,0.00,0.000,4,0.000,0.071,3225,3892,2882
$GC,2084,1.53,97.8,25.0,11.7,182,2091,0.00,2.47,0.00,0.000,6,0.000,0.038,3225,2509,2882
$GC,2287,1.53,97.8,7.1,7.9,209,2293,0.00,2.60,0.00,0.000,4,0.000,0.071,3225,3890,2882
$GC,2327,1.53,97.8,4.0,7.7,215,2333,0.00,2.45,0.00,0.000,6,0.000,0.039,3225,2497,2882
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2390,begin surface coast
$FINISH,1.1,1.020833
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2536,140.52,0.574,0,0,1650,400.08
$SM_GC,0.97,0.00,0.00,140.52,0.000,0.000,0.574,132,2043,1650,-12.71,-0.20,400.08
$IRIDIUM_FIX,4722.92,-12254.47,230907,222238
$TT8_MAMPS,0.066729
$HUMID,2090
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.80
$XPDR_PINGS,130
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.9,13.541
$10V_AH,10.1,7.614
$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,33.425,31.975,228.600,140.525,0.000,40.388,36.112,162.207,32.750,58.900,3108.100,31.657,453.253,1324.066,451.998,450.010,409.709,33.341,713.790,0.000,418.768,0.000,2.549
$DEVICE_MAMPS,206.323,77.467,629.707,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.246,0.000,0.000,0.000,0.000,0.000,0.000,3167.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,242
$CFSIZE,260034560,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,201709,4739.328,-12252.272,11,1.8,11,18.3