version: 66.02
glider: 116
mission: 4
dive: 97
start: 9 24 107 9 20 55
data:
$ID,116
$MISSION,4
$DIVE,97
$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,-27092.006
$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,28
$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
$GPS1,091327,4738.562,-12253.130,14,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.9
$GPS2,091945,4738.588,-12253.020,12,1.3,12,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.055
$KALMAN_X,16327.7,278.1,163.1,-16800.0,121.6
$KALMAN_Y,5357.9,140.3,85.7,-7077.1,14.2
$MHEAD_RNG_PITCHd_Wd,233.1,250,-19.9,-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,-1.75,-73.2,0.0,0.0,0,79,0.00,0.00,-48.30,0.000,2,0.000,0.000,135,2036,2841
$GC,83,-1.78,-97.8,2.1,-3.4,8,138,15.48,2.67,-29.12,0.000,4,0.216,0.070,2502,3462,3681
$GC,153,-1.78,-97.8,4.6,-6.6,19,159,0.00,2.58,0.00,0.000,6,0.000,0.037,2502,2038,3682
$GC,226,-1.78,-97.8,7.5,-4.8,30,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2038,3682
$GC,299,-1.78,-97.8,11.9,-6.4,41,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2038,3682
$GC,371,-1.78,-97.8,17.4,-7.7,52,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2038,3682
$GC,448,-1.78,-97.8,23.1,-7.5,61,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2038,3682
$GC,639,-1.78,-97.8,37.3,-7.3,76,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2038,3682
$GC,830,-1.78,-97.8,51.4,-7.4,91,835,0.00,2.55,0.00,0.000,4,0.000,0.066,2502,658,3683
$GC,988,-1.78,-97.8,63.5,-7.4,102,995,0.00,2.47,0.00,0.000,6,0.000,0.039,2502,2054,3683
$GC,1184,-1.78,-97.8,77.0,-7.0,118,1189,0.00,2.60,0.00,0.000,4,0.000,0.063,2502,657,3683
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1237,-0.42,0.0,80.3,7.7,121,1353,1.52,0.00,111.43,0.626,6,0.115,0.000,2799,2500,3281
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1359,1.78,97.8,82.4,0.0,131,1487,2.22,2.72,116.15,0.603,4,0.061,0.077,3291,3888,2882
$GC,1560,1.78,97.8,63.1,13.3,147,1564,0.00,2.45,0.00,0.000,6,0.000,0.039,3291,2501,2882
$GC,1755,1.78,97.8,38.4,12.8,162,1759,0.00,2.55,0.00,0.000,4,0.000,0.054,3291,1094,2882
$GC,1793,1.78,97.8,33.3,13.3,164,1800,0.00,2.55,0.00,0.000,6,0.000,0.041,3291,2505,2882
$GC,1993,1.78,97.8,10.9,10.1,186,1999,0.00,2.60,0.00,0.000,4,0.000,0.071,3291,3891,2882
$GC,2039,1.78,97.8,6.0,10.3,193,2045,0.00,2.45,0.00,0.000,6,0.000,0.038,3291,2497,2881
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,0.3,1.019312
$STATE,2091,end surface coast,CONTROL_FINISHED_OK
$STATE,2091,begin surface
$SM_CCo,2122,141.62,0.567,0,0,1649,400.08
$SM_GC,1.03,0.00,0.00,141.62,0.000,0.000,0.567,133,2049,1649,-12.71,-0.03,400.08
$IRIDIUM_FIX,4719.74,-12247.38,240907,121219
$TT8_MAMPS,0.065962
$HUMID,2065
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,87
$ALTIM_TOP_PING,9.4,999.0
$24V_AH,23.9,15.201
$10V_AH,10.1,8.671
$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,33.925,32.375,227.575,141.625,0.000,40.976,34.972,170.534,22.000,52.150,2713.850,13.848,385.851,1028.323,461.632,382.753,412.514,33.328,709.055,0.000,363.610,0.000,2.548
$DEVICE_MAMPS,215.527,77.467,625.872,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.818,0.000,0.000,0.000,0.000,0.000,0.000,2766.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,201
$CFSIZE,260034560,254132224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,095927,4738.554,-12253.164,11,2.0,11,18.3