version: 66.02
glider: 116
mission: 4
dive: 88
start: 9 24 107 1 18 3
data:
$ID,116
$MISSION,4
$DIVE,88
$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,-26898.182
$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
$GPS1,011014,4739.355,-12253.329,9,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.8
$GPS2,011653,4739.368,-12253.309,14,2.3,33,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,-0.168
$KALMAN_X,14551.9,88.1,4.4,-15032.0,76.9
$KALMAN_Y,4593.9,-27.2,-69.2,-4548.4,89.9
$MHEAD_RNG_PITCHd_Wd,193.5,773,-17.0,-7.619
$D_GRID,120
$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,-97.8,0.0,0.0,0,97,0.00,0.00,-66.32,0.000,2,0.000,0.000,133,2042,3248
$GC,101,-1.53,-97.8,2.3,-4.5,11,138,15.62,2.62,-13.95,0.000,4,0.211,0.072,2556,3456,3681
$GC,258,-1.53,-97.8,12.3,-7.0,35,264,0.00,2.47,0.00,0.000,6,0.000,0.038,2556,2048,3682
$GC,331,-1.53,-97.8,17.1,-6.5,46,337,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,656,3682
$GC,439,-1.53,-97.8,24.0,-6.0,58,443,0.00,2.47,0.00,0.000,6,0.000,0.038,2557,2059,3682
$GC,634,-1.53,-97.8,34.5,-5.7,73,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2059,3683
$GC,827,-1.53,-97.8,44.5,-5.5,88,832,0.00,2.60,0.00,0.000,4,0.000,0.061,2557,652,3683
$GC,1078,-1.53,-97.8,61.0,-6.4,106,1084,0.00,2.45,0.00,0.000,6,0.000,0.038,2557,2049,3683
$GC,1274,-1.53,-97.8,72.6,-5.0,122,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2049,3682
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1443,-0.42,0.0,80.5,5.0,135,1563,1.23,0.00,115.38,0.634,6,0.110,0.000,2798,2498,3281
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1565,begin climb
$GC,1569,1.53,97.8,81.2,0.0,145,1693,1.98,2.75,113.38,0.610,4,0.062,0.077,3227,3890,2881
$GC,1792,1.53,97.8,61.6,12.3,162,1799,0.00,2.47,0.00,0.000,6,0.000,0.038,3227,2499,2882
$GC,1988,1.53,97.8,41.4,10.2,178,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2498,2882
$GC,2179,1.53,97.8,21.3,10.6,193,2184,0.00,2.53,0.00,0.000,4,0.000,0.053,3227,1100,2881
$GC,2225,1.53,97.8,16.7,10.1,198,2231,0.00,2.50,0.00,0.000,6,0.000,0.041,3227,2501,2883
$GC,2298,1.53,97.8,10.7,8.2,209,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2502,2881
$GC,2370,1.53,97.8,5.0,7.8,220,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2502,2881
$STATE,2412,end climb,SURFACE_DEPTH_REACHED
$STATE,2412,begin surface coast
$FINISH,0.6,1.021015
$STATE,2440,end surface coast,CONTROL_FINISHED_OK
$STATE,2440,begin surface
$SM_CCo,2471,142.38,0.575,0,0,1649,400.08
$SM_GC,0.82,0.00,0.00,142.38,0.000,0.000,0.575,135,2043,1649,-12.69,-0.20,400.08
$IRIDIUM_FIX,4722.92,-12249.11,240907,040403
$TT8_MAMPS,0.066729
$HUMID,2092
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.70
$XPDR_PINGS,145
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.5,14.247
$10V_AH,10.1,8.059
$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,33.225,27.100,228.750,142.375,0.000,38.530,34.586,173.228,36.500,58.900,3056.100,36.469,433.258,1280.300,459.300,457.142,412.155,33.341,724.892,0.000,417.053,0.000,2.549
$DEVICE_MAMPS,210.925,77.467,634.309,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.328,0.000,0.000,0.000,0.000,0.000,0.000,3115.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,231
$CFSIZE,260034560,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,020255,4739.247,-12253.390,42,1.3,42,18.3