version: 66.02
glider: 116
mission: 4
dive: 95
start: 9 24 107 7 34 39
data:
$ID,116
$MISSION,4
$DIVE,95
$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,-27038.514
$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,27
$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
$GPS1,072653,4738.624,-12253.125,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.1
$GPS2,073329,4738.650,-12253.030,10,2.0,12,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.106
$KALMAN_X,15767.1,213.1,176.5,-16201.4,61.8
$KALMAN_Y,5182.0,117.0,121.0,-6798.2,5.6
$MHEAD_RNG_PITCHd_Wd,212.4,307,-20.8,-7.619
$D_GRID,136
$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,-1.82,-67.8,0.0,0.0,0,85,0.00,0.00,-54.30,0.000,2,0.000,0.000,134,2047,2994
$GC,89,-1.85,-97.8,2.1,-3.4,9,138,15.20,2.62,-24.85,0.000,4,0.211,0.070,2487,3455,3681
$GC,178,-1.85,-97.8,6.1,-8.5,23,184,0.00,2.47,0.00,0.000,6,0.000,0.035,2487,2038,3682
$GC,251,-1.85,-97.8,9.6,-4.9,34,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2038,3682
$GC,323,-1.85,-97.8,14.3,-6.6,45,330,0.00,2.53,0.00,0.000,4,0.000,0.063,2487,658,3682
$GC,383,-1.85,-97.8,18.6,-7.3,54,390,0.00,2.45,0.00,0.000,6,0.000,0.037,2487,2060,3682
$GC,461,-1.85,-97.8,24.2,-7.2,62,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2060,3682
$GC,654,-1.85,-97.8,37.5,-6.7,77,658,0.00,2.60,0.00,0.000,4,0.000,0.060,2487,657,3683
$GC,758,-1.85,-97.8,45.5,-7.7,84,765,0.00,2.45,0.00,0.000,6,0.000,0.038,2487,2049,3684
$GC,955,-1.85,-97.8,59.3,-7.3,100,959,0.00,2.60,0.00,0.000,4,0.000,0.062,2487,649,3683
$GC,1054,-1.85,-97.8,67.0,-8.1,107,1058,0.00,2.47,0.00,0.000,6,0.000,0.038,2487,2056,3683
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1243,-0.42,0.0,80.1,7.0,121,1363,1.60,0.00,115.65,0.624,6,0.117,0.000,2803,2494,3281
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1369,1.85,97.8,82.0,0.0,131,1494,2.25,2.75,113.40,0.603,4,0.061,0.077,3302,3889,2882
$GC,1600,1.85,97.8,56.1,14.7,149,1604,0.00,2.47,0.00,0.000,6,0.000,0.039,3302,2493,2882
$GC,1795,1.85,97.8,29.9,13.0,164,1800,0.00,2.62,0.00,0.000,4,0.000,0.069,3302,3887,2882
$GC,1854,1.85,97.8,22.1,13.2,168,1859,0.00,2.45,0.00,0.000,6,0.000,0.039,3302,2501,2882
$GC,2060,1.92,152.6,2.1,3.5,197,2073,0.00,0.00,11.02,0.621,2,0.000,0.000,3303,2499,2813
$STATE,2074,end climb,SURFACE_DEPTH_REACHED
$STATE,2074,begin surface coast
$FINISH,2.1,1.019975
$STATE,2238,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2238,begin surface
$SM_CCo,2247,276.62,0.549,3,0,583,662.06
$SM_GC,1.06,14.38,0.00,0.00,0.049,0.000,0.000,132,2042,584,-12.68,-0.23,661.57
$IRIDIUM_FIX,4722.92,-12247.38,240907,101036
$TT8_MAMPS,0.066729
$HUMID,2092
$INTERNAL_PRESSURE,10.8598
$TCM_TEMP,19.90
$XPDR_PINGS,77
$ALTIM_TOP_PING,9.5,999.0
$24V_AH,23.3,15.003
$10V_AH,10.1,8.538
$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,33.425,32.125,240.075,276.625,0.000,38.341,35.510,187.669,19.500,53.030,2862.970,14.572,425.250,1183.097,613.488,423.762,430.673,33.332,878.072,0.000,404.250,0.000,2.550
$DEVICE_MAMPS,210.925,76.700,624.338,549.172,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.402,0.000,0.000,0.000,0.000,0.000,0.000,2916.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,224
$CFSIZE,260034560,254189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240907,082007,4738.532,-12253.042,39,1.4,39,18.3