version: 66.02
glider: 116
mission: 4
dive: 96
start: 9 24 107 8 27 45
data:
$ID,116
$MISSION,4
$DIVE,96
$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,-27077.527
$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
$GPS1,082007,4738.532,-12253.042,39,1.4,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.5
$GPS2,082635,4738.571,-12252.939,16,2.1,35,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,-0.039
$KALMAN_X,16068.3,249.2,174.3,-16425.1,93.4
$KALMAN_Y,5256.8,126.3,102.9,-7010.0,12.7
$MHEAD_RNG_PITCHd_Wd,240.3,336,-17.0,-7.619
$D_GRID,137
$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,-97.8,0.0,0.0,0,128,0.00,0.00,-96.22,0.000,2,0.000,0.000,133,2041,2895
$GC,133,-1.53,-97.8,2.4,-4.4,16,182,15.68,0.00,-25.98,0.000,6,0.210,0.000,2555,2040,3681
$GC,248,-1.53,-97.8,6.4,-3.1,34,254,0.00,2.58,0.00,0.000,4,0.000,0.062,2555,647,3682
$GC,281,-1.53,-97.8,7.8,-4.2,39,287,0.00,2.47,0.00,0.000,6,0.000,0.036,2555,2060,3682
$GC,354,-1.53,-97.8,12.0,-6.5,50,360,0.00,2.53,0.00,0.000,4,0.000,0.059,2555,3448,3682
$GC,460,-1.53,-97.8,18.3,-6.4,66,466,0.00,2.45,0.00,0.000,6,0.000,0.036,2555,2045,3683
$GC,531,-1.53,-97.8,22.5,-5.8,74,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2045,3683
$GC,724,-1.53,-97.8,32.8,-5.2,89,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2045,3684
$GC,911,-1.53,-97.8,44.9,-6.2,104,915,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,651,3684
$GC,1016,-1.53,-97.8,52.0,-6.5,111,1023,0.00,2.47,0.00,0.000,6,0.000,0.039,2555,2056,3685
$GC,1212,-1.53,-97.8,63.9,-6.1,127,1216,0.00,2.58,0.00,0.000,4,0.000,0.061,2555,655,3684
$GC,1278,-1.53,-97.8,68.2,-6.8,132,1282,0.00,2.45,0.00,0.000,6,0.000,0.039,2555,2049,3684
$STATE,1471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1471,begin apogee
$GC,1478,-0.42,0.0,80.3,6.1,147,1601,1.25,0.00,113.15,0.624,6,0.112,0.000,2799,2500,3282
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1607,1.53,97.8,82.5,0.0,157,1734,1.98,2.75,114.60,0.603,4,0.061,0.077,3228,3890,2882
$GC,1826,1.53,97.8,65.2,10.4,174,1833,0.00,2.50,0.00,0.000,6,0.000,0.038,3229,2503,2884
$GC,2022,1.53,97.8,45.6,10.4,190,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2503,2886
$GC,2213,1.53,97.8,26.5,10.2,205,2218,0.00,2.55,0.00,0.000,4,0.000,0.054,3229,1094,2886
$GC,2251,1.53,97.8,22.3,10.2,207,2258,0.00,2.53,0.00,0.000,6,0.000,0.040,3229,2500,2886
$GC,2456,1.53,97.8,4.4,8.5,236,2462,0.00,2.60,0.00,0.000,4,0.000,0.072,3228,3885,2885
$STATE,2486,end climb,SURFACE_DEPTH_REACHED
$STATE,2486,begin surface coast
$FINISH,0.6,1.019346
$STATE,2514,end surface coast,CONTROL_FINISHED_OK
$STATE,2514,begin surface
$SM_CCo,2547,144.20,0.569,0,0,1650,400.08
$SM_GC,1.03,0.00,0.00,144.20,0.000,0.000,0.569,134,2036,1650,-12.70,-0.40,400.08
$IRIDIUM_FIX,4722.92,-12256.21,240907,111100
$TT8_MAMPS,0.068263
$HUMID,2074
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,69
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,15.103
$10V_AH,10.1,8.611
$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,33.250,37.175,227.750,144.200,0.000,39.612,36.585,158.098,17.500,58.910,3402.090,38.383,448.744,1278.578,504.230,468.513,408.865,33.339,786.719,0.000,426.172,0.000,2.549
$DEVICE_MAMPS,210.158,77.467,624.338,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.868,0.000,0.000,0.000,0.000,0.000,0.000,3461.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,245
$CFSIZE,260034560,254156800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240907,091327,4738.562,-12253.130,14,1.7,14,18.3