version: 66.02
glider: 116
mission: 4
dive: 29
start: 9 21 107 22 15 2
data:
$ID,116
$MISSION,4
$DIVE,29
$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,-25585.83
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,220839,4739.412,-12252.596,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.6
$GPS2,221351,4739.433,-12252.553,16,1.5,16,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.238,0.030
$KALMAN_X,5131.7,123.4,-33.0,-4667.0,152.1
$KALMAN_Y,2810.8,-142.7,1.6,-2597.0,-33.8
$MHEAD_RNG_PITCHd_Wd,258.8,813,-19.5,-10.101
$D_GRID,124
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.77,-122.2,0.0,0.0,0,96,0.00,0.00,-66.53,0.000,2,0.000,0.000,133,2045,3243
$GC,100,-1.77,-122.2,2.3,-5.4,11,138,15.12,2.60,-15.10,0.000,4,0.206,0.075,2502,648,3781
$GC,211,-1.77,-122.2,11.9,-9.5,28,217,0.00,2.50,0.00,0.000,6,0.000,0.039,2502,2061,3782
$GC,284,-1.77,-122.2,17.2,-7.2,39,290,0.00,2.60,0.00,0.000,4,0.000,0.060,2502,651,3782
$GC,369,-1.77,-122.2,23.8,-7.2,48,375,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2053,3783
$GC,565,-1.77,-122.2,39.5,-8.3,64,569,0.00,2.60,0.00,0.000,4,0.000,0.062,2502,648,3783
$GC,706,-1.77,-122.2,51.2,-8.6,74,710,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2053,3784
$GC,902,-1.77,-122.2,67.9,-8.4,89,906,0.00,2.60,0.00,0.000,4,0.000,0.063,2502,651,3784
$GC,1001,-1.77,-122.2,76.6,-8.5,96,1006,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2058,3784
$GC,1197,-1.77,-122.2,91.7,-7.7,111,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2058,3783
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1317,-0.42,0.0,100.4,7.7,120,1468,1.50,0.00,144.00,0.643,6,0.110,0.000,2799,2494,3281
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1474,1.77,122.2,102.7,0.0,133,1627,2.20,2.70,142.48,0.615,4,0.059,0.079,3277,3887,2782
$GC,1765,1.77,122.2,70.6,14.0,155,1772,0.00,2.50,0.00,0.000,6,0.000,0.040,3278,2491,2782
$GC,1962,1.77,122.2,44.4,13.1,171,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2490,2782
$GC,2155,1.77,122.2,19.0,13.3,186,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2490,2782
$GC,2227,1.77,122.2,9.6,11.6,197,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2490,2781
$GC,2299,1.77,122.2,2.2,10.5,208,2305,0.00,2.53,0.00,0.000,4,0.000,0.055,3278,1097,2781
$STATE,2309,end climb,SURFACE_DEPTH_REACHED
$STATE,2309,begin surface coast
$FINISH,0.2,1.001792
$STATE,2330,end surface coast,CONTROL_FINISHED_OK
$STATE,2330,begin surface
$SM_CCo,2362,125.53,0.574,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,125.53,0.000,0.000,0.574,133,2060,1649,-12.71,0.31,400.08
$IRIDIUM_FIX,4722.92,-12249.11,220907,010115
$TT8_MAMPS,0.066729
$HUMID,2113
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,121
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.9,8.192
$10V_AH,10.0,4.124
$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,33.300,30.575,286.475,125.525,0.000,38.315,36.927,118.107,31.000,0.000,2917.000,16.517,398.089,1174.579,492.285,417.367,348.296,33.338,759.168,0.000,396.030,0.000,5.672
$DEVICE_MAMPS,206.323,79.001,642.746,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.497,0.000,0.000,0.000,0.000,0.000,0.000,2917.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,213
$CFSIZE,260034560,256188416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,225738,4739.467,-12252.812,32,1.3,32,18.3