version: 66.02
glider: 116
mission: 4
dive: 33
start: 9 22 107 1 23 15
data:
$ID,116
$MISSION,4
$DIVE,33
$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,-25690.334
$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,28
$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
$GPS1,011602,4739.247,-12253.282,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.8
$GPS2,012205,4739.285,-12253.223,15,2.2,34,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.166
$KALMAN_X,5648.0,75.1,204.7,-6210.8,64.9
$KALMAN_Y,2915.4,-156.7,54.5,-3015.4,19.2
$MHEAD_RNG_PITCHd_Wd,207.8,709,-19.5,-10.101
$D_GRID,123
$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,-122.2,0.0,0.0,0,103,0.00,0.00,-72.53,0.000,2,0.000,0.000,135,2046,3352
$GC,106,-1.77,-122.2,2.2,-5.1,12,143,15.10,2.65,-13.30,0.000,4,0.206,0.074,2502,3452,3781
$GC,179,-1.77,-122.2,6.5,-7.1,23,185,0.00,2.47,0.00,0.000,6,0.000,0.038,2501,2042,3782
$GC,252,-1.77,-122.2,11.9,-7.9,34,258,0.00,2.58,0.00,0.000,4,0.000,0.064,2502,651,3782
$GC,477,-1.77,-122.2,30.3,-8.1,59,481,0.00,2.47,0.00,0.000,6,0.000,0.039,2502,2056,3783
$GC,672,-1.77,-122.2,45.8,-8.0,74,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2056,3783
$GC,864,-1.77,-122.2,60.5,-7.6,89,868,0.00,2.60,0.00,0.000,4,0.000,0.063,2501,653,3783
$GC,936,-1.77,-122.2,67.1,-9.6,94,941,0.00,2.47,0.00,0.000,6,0.000,0.040,2502,2056,3783
$GC,1139,-1.77,-122.2,84.4,-8.4,110,1143,0.00,2.60,0.00,0.000,4,0.000,0.062,2502,651,3783
$GC,1268,-1.77,-122.2,95.1,-8.3,119,1272,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2059,3784
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1343,-0.42,0.0,101.0,7.9,124,1494,1.50,0.00,144.23,0.644,6,0.110,0.000,2798,2495,3281
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1500,1.77,122.2,103.8,0.0,137,1653,2.20,2.70,142.50,0.619,4,0.059,0.080,3284,3885,2782
$GC,1733,1.77,122.2,79.6,14.1,155,1737,0.00,2.47,0.00,0.000,6,0.000,0.041,3285,2491,2782
$GC,1928,1.77,122.2,53.4,13.4,170,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2488,2782
$GC,2121,1.77,122.2,27.8,12.8,185,2125,0.00,2.65,0.00,0.000,4,0.000,0.073,3286,3888,2782
$GC,2247,1.77,122.2,9.9,13.5,199,2254,0.00,2.45,0.00,0.000,6,0.000,0.040,3286,2491,2781
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.2,1.020530
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2356,123.97,0.571,0,0,1650,400.08
$SM_GC,0.90,0.00,0.00,123.97,0.000,0.000,0.571,132,2039,1650,-12.71,-0.34,400.08
$IRIDIUM_FIX,4716.56,-12410.62,220907,040422
$TT8_MAMPS,0.066729
$HUMID,2108
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.80
$XPDR_PINGS,123
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.9,8.558
$10V_AH,10.0,4.368
$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,33.250,32.200,286.725,123.975,0.000,41.016,39.262,140.231,31.500,0.000,2961.000,35.830,400.647,1171.513,483.869,439.050,378.770,33.338,752.367,0.000,399.552,0.000,5.670
$DEVICE_MAMPS,206.323,79.768,644.280,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.536,0.000,0.000,0.000,0.000,0.000,0.000,2961.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,211
$CFSIZE,260034560,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,020537,4739.133,-12253.373,9,1.5,25,18.3