version: 66.02
glider: 116
mission: 4
dive: 19
start: 9 21 107 14 46 45
data:
$ID,116
$MISSION,4
$DIVE,19
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,60
$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,125
$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,-25335.678
$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,2200
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$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
$GPS1,144029,4738.970,-12251.946,11,3.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.9
$GPS2,144537,4738.966,-12251.915,15,1.6,31,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.202
$KALMAN_X,4207.0,620.2,208.1,-3686.2,31.3
$KALMAN_Y,2845.0,332.6,51.3,-4019.1,-51.7
$MHEAD_RNG_PITCHd_Wd,308.8,1108,-19.5,-10.101
$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,-1.77,-122.2,0.0,0.0,0,93,0.00,0.00,-60.58,0.000,2,0.000,0.000,133,2209,3113
$GC,97,-1.77,-122.2,2.3,-5.2,10,140,15.20,2.65,-19.27,0.000,4,0.202,0.070,2503,801,3782
$GC,280,-1.77,-122.2,17.1,-7.6,38,286,0.00,2.50,0.00,0.000,6,0.000,0.040,2502,2206,3784
$GC,359,-1.77,-122.2,23.1,-7.6,47,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2207,3783
$GC,549,-1.77,-122.2,37.9,-7.9,62,553,0.00,2.60,0.00,0.000,4,0.000,0.059,2503,796,3784
$GC,807,-1.77,-122.2,60.1,-8.9,81,811,0.00,2.50,0.00,0.000,6,0.000,0.041,2502,2199,3784
$GC,1003,-1.77,-122.2,76.7,-8.9,96,1007,0.00,2.58,0.00,0.000,4,0.000,0.058,2502,800,3784
$GC,1160,-1.77,-122.2,90.6,-8.9,107,1167,0.00,2.50,0.00,0.000,6,0.000,0.040,2502,2206,3784
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1281,begin apogee
$GC,1287,-0.42,0.0,100.8,8.6,117,1438,1.50,0.00,144.25,0.641,6,0.107,0.000,2798,2448,3281
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1444,1.77,122.2,104.0,0.0,130,1598,2.17,2.72,142.80,0.615,4,0.058,0.079,3283,3851,2782
$GC,1706,1.77,122.2,76.7,14.3,150,1710,0.00,2.50,0.00,0.000,6,0.000,0.041,3283,2445,2782
$GC,1901,1.77,122.2,50.1,13.2,165,1906,0.00,2.67,0.00,0.000,4,0.000,0.071,3283,3857,2782
$GC,1940,1.77,122.2,44.5,14.4,167,1946,0.00,2.50,0.00,0.000,6,0.000,0.040,3283,2447,2782
$GC,2136,1.77,122.2,19.0,12.7,183,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2445,2782
$GC,2208,1.77,122.2,9.8,12.1,194,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2448,2781
$GC,2281,1.85,186.5,3.1,6.5,205,2300,0.00,0.00,17.02,0.620,2,0.000,0.000,3283,2447,2677
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,0.2,1.020513
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2363,113.32,0.574,0,0,1649,400.08
$SM_GC,0.87,0.00,0.00,113.32,0.000,0.000,0.574,133,2195,1649,-12.71,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12249.11,210907,171736
$TT8_MAMPS,0.069797
$HUMID,2109
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,109
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.4,7.291
$10V_AH,10.0,3.539
$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,33.500,26.625,304.075,113.325,0.000,38.821,35.415,103.711,28.000,111.920,2817.080,31.357,400.002,1151.343,486.776,446.158,328.598,33.329,762.047,0.000,413.117,0.000,5.669
$DEVICE_MAMPS,202.488,79.001,641.212,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.361,0.000,0.000,0.000,0.000,0.000,0.000,2929.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6423,213
$CFSIZE,260034560,256471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,152851,4739.124,-12252.159,13,1.7,13,18.3