version: 66.02
glider: 116
mission: 4
dive: 38
start: 9 22 107 5 32 23
data:
$ID,116
$MISSION,4
$DIVE,38
$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,-25756.195
$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,25
$R_STBD_OVSHOOT,18
$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
$GPS1,052137,4738.887,-12253.680,13,1.1,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-65.3
$GPS2,053114,4738.921,-12253.568,12,1.9,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.107,-0.215
$KALMAN_X,6840.8,175.6,204.0,-7932.8,103.6
$KALMAN_Y,2814.2,-44.4,39.5,-3681.9,-73.7
$MHEAD_RNG_PITCHd_Wd,135.1,853,-19.5,-10.101
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.77,-122.2,0.0,0.0,0,111,0.00,0.00,-78.47,0.000,2,0.000,0.000,137,2046,3534
$GC,115,-1.77,-122.2,2.1,-3.0,13,146,15.12,2.65,-6.88,0.000,4,0.208,0.073,2505,3456,3781
$GC,273,-1.77,-122.2,14.5,-7.6,37,279,0.00,2.47,0.00,0.000,6,0.000,0.038,2505,2046,3782
$GC,346,-1.77,-122.2,20.5,-8.8,48,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2046,3783
$GC,538,-1.77,-122.2,35.3,-7.4,63,543,0.00,2.58,0.00,0.000,4,0.000,0.064,2505,650,3783
$GC,717,-1.77,-122.2,49.8,-8.0,76,721,0.00,2.47,0.00,0.000,6,0.000,0.039,2505,2058,3783
$GC,912,-1.77,-122.2,65.9,-8.1,91,917,0.00,2.60,0.00,0.000,4,0.000,0.061,2505,648,3784
$GC,991,-1.77,-122.2,72.8,-8.4,96,997,0.00,2.47,0.00,0.000,6,0.000,0.038,2505,2057,3783
$GC,1187,-1.77,-122.2,89.3,-8.2,112,1191,0.00,2.60,0.00,0.000,4,0.000,0.062,2505,649,3783
$GC,1247,-1.77,-122.2,94.2,-8.5,116,1251,0.00,2.45,0.00,0.000,6,0.000,0.038,2505,2053,3784
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1330,-0.42,0.0,100.5,7.9,122,1481,1.48,0.00,144.73,0.636,6,0.110,0.000,2797,2502,3281
$STATE,1484,end apogee,CONTROL_FINISHED_OK
$STATE,1484,begin climb
$GC,1487,1.77,122.2,103.0,0.0,135,1641,2.20,2.70,143.05,0.611,4,0.058,0.079,3278,3891,2781
$GC,1734,1.77,122.2,76.4,14.7,154,1738,0.00,2.47,0.00,0.000,6,0.000,0.040,3279,2492,2782
$GC,1929,1.77,122.2,50.6,12.9,169,1934,0.00,2.65,0.00,0.000,4,0.000,0.072,3279,3890,2781
$GC,1967,1.77,122.2,45.0,14.3,171,1975,0.00,2.47,0.00,0.000,6,0.000,0.039,3278,2498,2781
$GC,2165,1.77,122.2,19.2,12.5,187,2171,0.00,2.62,0.00,0.000,4,0.000,0.071,3278,3892,2781
$GC,2184,1.77,122.2,16.6,13.1,190,2190,0.00,2.45,0.00,0.000,6,0.000,0.040,3278,2491,2782
$GC,2258,1.77,122.2,8.1,12.4,201,2265,0.00,2.60,0.00,0.000,4,0.000,0.070,3279,3888,2781
$STATE,2335,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,1.1,1.020244
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2422,127.65,0.571,0,0,1650,400.08
$SM_GC,0.83,0.00,0.00,127.65,0.000,0.000,0.571,132,2046,1650,-12.71,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,220907,090940
$TT8_MAMPS,0.065962
$HUMID,2106
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,108
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.9,9.045
$10V_AH,10.0,4.694
$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,33.750,42.400,287.775,127.650,0.000,77.927,80.617,223.599,27.750,0.000,3255.000,12.113,418.029,1242.661,501.651,432.829,560.581,33.337,782.279,0.000,414.059,0.000,5.670
$DEVICE_MAMPS,207.857,79.001,635.843,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.912,0.000,0.000,0.000,0.000,0.000,0.000,3255.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,221
$CFSIZE,260034560,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,061545,4738.713,-12253.233,15,1.8,15,18.3