version: 66.02
glider: 116
mission: 4
dive: 89
start: 9 24 107 2 14 12
data:
$ID,116
$MISSION,4
$DIVE,89
$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,-26911.766
$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,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
$GPS1,020255,4739.247,-12253.390,42,1.3,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.5
$GPS2,021302,4739.275,-12253.338,12,1.2,12,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,-0.169
$KALMAN_X,14677.2,94.7,39.9,-15237.5,60.9
$KALMAN_Y,4723.8,-10.6,-45.3,-4889.3,114.6
$MHEAD_RNG_PITCHd_Wd,193.1,607,-17.0,-7.619
$D_GRID,127
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.53,-97.8,0.0,0.0,0,99,0.00,0.00,-66.57,0.000,2,0.000,0.000,136,2044,3234
$GC,103,-1.53,-97.8,2.0,-3.6,11,146,15.70,2.65,-16.90,0.000,4,0.212,0.070,2555,3457,3680
$GC,212,-1.53,-97.8,6.8,-6.3,28,219,0.00,2.47,0.00,0.000,6,0.000,0.038,2555,2046,3681
$GC,285,-1.53,-97.8,11.4,-6.4,39,292,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,655,3682
$GC,544,-1.53,-97.8,25.9,-5.9,70,551,0.00,2.47,0.00,0.000,6,0.000,0.039,2556,2061,3684
$GC,740,-1.53,-97.8,36.7,-5.6,86,744,0.00,2.60,0.00,0.000,4,0.000,0.061,2556,654,3682
$GC,813,-1.53,-97.8,41.3,-6.4,91,817,0.00,2.45,0.00,0.000,6,0.000,0.038,2555,2053,3682
$GC,1015,-1.53,-97.8,53.2,-6.0,107,1019,0.00,2.60,0.00,0.000,4,0.000,0.061,2556,651,3682
$GC,1150,-1.53,-97.8,62.3,-7.1,116,1156,0.00,2.47,0.00,0.000,6,0.000,0.039,2556,2053,3683
$GC,1346,-1.53,-97.8,75.0,-6.4,132,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2053,3682
$STATE,1431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1431,begin apogee
$GC,1438,-0.42,0.0,80.8,6.3,139,1558,1.25,0.00,115.32,0.634,6,0.110,0.000,2801,2501,3282
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1564,1.53,97.8,82.7,0.0,149,1688,1.98,2.75,113.68,0.610,4,0.061,0.078,3228,3890,2882
$GC,1756,1.53,97.8,67.3,11.3,164,1761,0.00,2.47,0.00,0.000,6,0.000,0.039,3228,2489,2882
$GC,1952,1.53,97.8,45.5,10.7,179,1956,0.00,2.53,0.00,0.000,4,0.000,0.054,3229,1092,2882
$GC,1990,1.53,97.8,40.9,11.5,181,1997,0.00,2.55,0.00,0.000,6,0.000,0.042,3228,2504,2882
$GC,2187,1.53,97.8,17.3,12.5,198,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2504,2882
$GC,2259,1.53,97.8,9.3,10.4,209,2265,0.00,2.60,0.00,0.000,4,0.000,0.071,3228,3891,2882
$GC,2325,1.53,97.8,2.7,9.1,219,2331,0.00,2.47,0.00,0.000,6,0.000,0.039,3228,2490,2882
$STATE,2337,end climb,SURFACE_DEPTH_REACHED
$STATE,2337,begin surface coast
$FINISH,0.2,1.009354
$STATE,2363,end surface coast,CONTROL_FINISHED_OK
$STATE,2363,begin surface
$SM_CCo,2393,134.02,0.572,0,0,1650,400.08
$SM_GC,0.93,0.00,0.00,134.02,0.000,0.000,0.572,133,2040,1650,-12.71,-0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,240907,060612
$TT8_MAMPS,0.067496
$HUMID,2082
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,115
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.4,14.356
$10V_AH,10.1,8.130
$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,33.300,37.300,229.000,134.025,0.000,73.664,85.213,251.027,29.000,58.040,3232.960,12.952,429.876,1259.107,458.784,429.261,587.030,33.340,727.901,0.000,410.566,0.000,2.548
$DEVICE_MAMPS,212.459,78.234,633.542,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.038,0.000,0.000,0.000,0.000,0.000,0.000,3291.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,225
$CFSIZE,260034560,254365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,025709,4739.145,-12253.390,12,1.5,12,18.3