version: 66.02
glider: 116
mission: 4
dive: 32
start: 9 22 107 0 34 1
data:
$ID,116
$MISSION,4
$DIVE,32
$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,-25653.875
$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,20
$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
$GPS1,002357,4739.413,-12253.210,9,1.3,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.8
$GPS2,003251,4739.452,-12253.152,15,1.3,15,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,-0.184
$KALMAN_X,5478.7,79.5,169.5,-5921.3,77.7
$KALMAN_Y,2887.9,-166.4,42.3,-2654.8,23.4
$MHEAD_RNG_PITCHd_Wd,201.7,1008,-19.5,-10.101
$D_GRID,118
$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,-1.77,-122.2,0.0,0.0,0,103,0.00,0.00,-72.53,0.000,2,0.000,0.000,134,2045,3365
$GC,107,-1.77,-122.2,2.2,-4.8,12,144,15.12,2.65,-12.30,0.000,4,0.206,0.073,2506,3455,3781
$GC,173,-1.77,-122.2,6.6,-7.6,22,179,0.00,2.47,0.00,0.000,6,0.000,0.039,2506,2049,3782
$GC,246,-1.77,-122.2,12.8,-8.5,33,252,0.00,2.58,0.00,0.000,4,0.000,0.064,2508,656,3782
$GC,490,-1.77,-122.2,33.2,-9.2,58,497,0.00,2.47,0.00,0.000,6,0.000,0.038,2506,2059,3783
$GC,686,-1.77,-122.2,49.3,-8.5,74,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2059,3785
$GC,877,-1.77,-122.2,64.7,-8.2,89,882,0.00,2.60,0.00,0.000,4,0.000,0.062,2506,654,3784
$GC,1019,-1.77,-122.2,75.8,-8.1,99,1023,0.00,2.47,0.00,0.000,6,0.000,0.038,2506,2062,3783
$GC,1215,-1.77,-122.2,90.7,-7.5,114,1219,0.00,2.58,0.00,0.000,4,0.000,0.061,2505,655,3783
$GC,1274,-1.77,-122.2,95.7,-8.4,118,1280,0.00,2.45,0.00,0.000,6,0.000,0.039,2506,2050,3783
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1337,-0.42,0.0,100.7,8.6,123,1488,1.48,0.00,144.12,0.644,6,0.113,0.000,2797,2500,3281
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1493,1.77,122.2,103.9,0.0,136,1647,2.22,2.70,142.25,0.617,4,0.058,0.081,3291,3891,2782
$GC,1755,1.77,122.2,76.1,14.2,156,1759,0.00,2.47,0.00,0.000,6,0.000,0.040,3291,2494,2782
$GC,1950,1.77,122.2,49.4,13.8,171,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2491,2782
$GC,2142,1.77,122.2,23.8,13.3,186,2146,0.00,2.65,0.00,0.000,4,0.000,0.073,3291,3890,2781
$GC,2247,1.77,122.2,9.0,13.3,199,2253,0.00,2.45,0.00,0.000,6,0.000,0.040,3291,2495,2781
$STATE,2304,end climb,SURFACE_DEPTH_REACHED
$STATE,2304,begin surface coast
$FINISH,0.1,1.020582
$STATE,2320,end surface coast,CONTROL_FINISHED_OK
$STATE,2320,begin surface
$SM_CCo,2350,124.07,0.574,0,0,1650,400.08
$SM_GC,0.94,0.00,0.00,124.07,0.000,0.000,0.574,135,2046,1650,-12.70,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12246.42,220907,040403
$TT8_MAMPS,0.066729
$HUMID,2098
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.70
$XPDR_PINGS,130
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,8.465
$10V_AH,10.0,4.305
$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,33.375,32.175,286.375,124.075,0.000,77.403,138.778,136.636,33.250,0.000,3124.000,15.263,393.506,1223.819,488.806,419.662,513.364,33.333,756.659,0.000,399.322,0.000,5.670
$DEVICE_MAMPS,206.323,80.535,643.513,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.592,0.000,0.000,0.000,0.000,0.000,0.000,3124.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,210
$CFSIZE,260034560,256102400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,011602,4739.247,-12253.282,10,2.0,10,18.3