version: 66.02
glider: 116
mission: 4
dive: 98
start: 9 24 107 10 6 26
data:
$ID,116
$MISSION,4
$DIVE,98
$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,-27106.625
$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,29
$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
$GPS1,095927,4738.554,-12253.164,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.1
$GPS2,100515,4738.574,-12253.064,12,1.9,12,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,-0.034
$KALMAN_X,16553.9,318.8,161.1,-17119.9,124.5
$KALMAN_Y,5448.9,151.0,62.8,-7181.7,22.4
$MHEAD_RNG_PITCHd_Wd,81.6,831,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-1.53,-97.8,0.0,0.0,0,79,0.00,0.00,-46.83,0.000,2,0.000,0.000,133,2049,2803
$GC,82,-1.53,-97.8,2.1,-3.3,8,138,15.73,2.60,-33.28,0.000,4,0.213,0.070,2556,3462,3680
$GC,390,-1.53,-97.8,15.0,-5.3,55,396,0.00,2.50,0.00,0.000,6,0.000,0.038,2556,2040,3682
$GC,463,-1.53,-97.8,19.0,-5.5,66,469,0.00,2.60,0.00,0.000,4,0.000,0.059,2556,3459,3681
$GC,503,-1.53,-97.8,21.3,-5.7,71,507,0.00,2.47,0.00,0.000,6,0.000,0.038,2555,2048,3682
$GC,699,-1.53,-97.8,32.3,-5.9,86,703,0.00,2.58,0.00,0.000,4,0.000,0.065,2556,657,3681
$GC,791,-1.53,-97.8,38.4,-6.8,93,795,0.00,2.47,0.00,0.000,6,0.000,0.039,2556,2058,3682
$GC,987,-1.53,-97.8,51.0,-6.2,108,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2058,3682
$GC,1178,-1.53,-97.8,62.6,-6.0,123,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2058,3682
$GC,1367,-1.53,-97.8,73.4,-5.5,138,1372,0.00,2.62,0.00,0.000,4,0.000,0.064,2556,655,3682
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1494,-0.42,0.0,80.1,5.6,146,1613,1.23,0.00,114.57,0.630,6,0.111,0.000,2796,2494,3281
$STATE,1614,end apogee,CONTROL_FINISHED_OK
$STATE,1615,begin climb
$GC,1619,1.53,97.8,81.2,0.0,156,1740,1.98,0.00,113.07,0.609,6,0.063,0.000,3225,2494,2882
$GC,1931,1.53,97.8,53.7,10.1,181,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2494,2882
$GC,2120,1.53,97.8,35.2,9.9,196,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2494,2881
$GC,2309,1.53,97.8,16.8,10.4,213,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2494,2881
$GC,2381,1.53,97.8,10.0,9.6,224,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2494,2881
$GC,2453,1.56,115.8,4.1,6.7,235,2466,0.00,2.70,3.22,0.698,4,0.000,0.074,3225,3887,2693
$STATE,2616,end climb,NO_VERTICAL_VELOCITY
$STATE,2616,begin surface
$SM_CCo,2625,291.27,0.558,3,0,582,662.06
$SM_GC,0.30,0.12,0.00,0.00,0.081,0.000,0.000,3174,3756,582,1.34,49.33,697.63
$IRIDIUM_FIX,4719.74,-12254.47,240907,131340
$TT8_MAMPS,0.06903
$HUMID,2103
$INTERNAL_PRESSURE,10.85
$TCM_TEMP,19.70
$XPDR_PINGS,149
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.9,15.327
$10V_AH,10.1,8.741
$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,19.050,24.025,230.875,291.275,0.000,39.603,32.146,149.101,37.500,63.920,3189.080,13.987,474.205,1484.184,609.012,450.417,391.681,33.331,880.923,0.000,433.622,0.000,2.557
$DEVICE_MAMPS,213.226,74.399,697.970,558.376,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.046,0.000,0.000,0.000,0.000,0.000,0.000,3253.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,260
$CFSIZE,260034560,254099456
$ERRORS,0,1,0,0,0,0,0,0,1,1,2,0,0,3,0
$GPS,240907,131540,4719.737,-12254.473,0,10000.0,0,18.3