version: 66.02
glider: 116
mission: 4
dive: 84
start: 9 23 107 22 3 48
data:
$ID,116
$MISSION,4
$DIVE,84
$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,-26817.408
$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,21
$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
$GPS1,215435,4739.463,-12252.735,10,3.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.1
$GPS2,220238,4739.491,-12252.727,11,1.4,11,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,0.031
$KALMAN_X,13955.9,164.5,-3.8,-13779.4,-68.4
$KALMAN_Y,4173.8,46.3,50.1,-4091.8,-100.3
$MHEAD_RNG_PITCHd_Wd,260.8,595,-17.0,-7.619
$D_GRID,123
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.53,-97.8,0.0,0.0,0,99,0.00,0.00,-66.25,0.000,2,0.000,0.000,137,2049,3243
$GC,103,-1.53,-97.8,2.3,-4.2,11,141,15.57,2.60,-15.18,0.000,4,0.210,0.074,2557,645,3679
$GC,201,-1.53,-97.8,6.7,-7.1,26,207,0.00,2.50,0.00,0.000,6,0.000,0.038,2557,2062,3681
$GC,274,-1.53,-97.8,12.0,-7.0,37,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2062,3681
$GC,346,-1.53,-97.8,17.2,-7.2,48,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2062,3682
$GC,417,-1.53,-97.8,21.6,-6.2,57,421,0.00,2.62,0.00,0.000,4,0.000,0.061,2557,646,3682
$GC,455,-1.53,-97.8,24.2,-6.7,59,462,0.00,2.47,0.00,0.000,6,0.000,0.038,2557,2056,3682
$GC,652,-1.53,-97.8,35.5,-6.1,75,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2056,3682
$GC,843,-1.53,-97.8,46.6,-5.8,90,847,0.00,2.60,0.00,0.000,4,0.000,0.062,2557,649,3682
$GC,1021,-1.53,-97.8,58.3,-6.7,103,1026,0.00,2.47,0.00,0.000,6,0.000,0.039,2557,2052,3682
$GC,1217,-1.53,-97.8,69.8,-6.0,118,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2053,3684
$STATE,1393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1393,begin apogee
$GC,1400,-0.42,0.0,80.5,6.0,132,1519,1.23,0.00,114.65,0.633,6,0.110,0.000,2798,2501,3281
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1525,1.53,97.8,81.9,0.0,142,1649,1.98,2.67,113.30,0.608,4,0.062,0.077,3227,3884,2882
$GC,1722,1.53,97.8,65.0,11.0,157,1729,0.00,2.47,0.00,0.000,6,0.000,0.038,3227,2481,2882
$GC,1918,1.53,97.8,44.7,10.3,173,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2479,2882
$GC,2111,1.53,97.8,25.3,10.0,188,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2480,2882
$GC,2302,1.53,97.8,6.7,9.0,213,2308,0.00,2.65,0.00,0.000,4,0.000,0.071,3227,3887,2882
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,0.2,1.020797
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2418,137.32,0.576,0,0,1650,400.08
$SM_GC,0.98,0.00,0.00,137.32,0.000,0.000,0.576,137,2059,1650,-12.69,0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,240907,010152
$TT8_MAMPS,0.066729
$HUMID,2091
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,142
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.3,13.848
$10V_AH,10.1,7.807
$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,32.950,27.200,227.950,137.325,0.000,65.541,79.480,154.089,35.750,58.070,3110.930,11.056,425.398,1314.233,452.871,408.009,467.485,33.348,708.087,0.000,395.289,0.000,2.549
$DEVICE_MAMPS,210.158,77.467,632.775,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.052,0.000,0.000,0.000,0.000,0.000,0.000,3169.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6423,226
$CFSIZE,260034560,254513152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,224729,4739.487,-12252.988,9,2.1,28,18.3