version: 66.02
glider: 116
mission: 4
dive: 34
start: 9 22 107 2 21 6
data:
$ID,116
$MISSION,4
$DIVE,34
$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,-25704.637
$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,30
$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
$GPS1,020537,4739.133,-12253.373,9,1.5,25,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.5
$GPS2,021957,4739.192,-12253.233,13,1.4,13,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,-0.142
$KALMAN_X,5918.1,79.6,224.7,-6521.0,67.7
$KALMAN_Y,3030.6,-138.6,59.9,-3328.0,37.2
$MHEAD_RNG_PITCHd_Wd,215.4,582,-19.5,-10.101
$D_GRID,130
$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,-122.2,0.0,0.0,0,105,0.00,0.00,-72.55,0.000,2,0.000,0.000,132,2038,3377
$GC,109,-1.77,-122.2,2.0,-4.3,12,146,15.05,2.65,-13.40,0.000,4,0.205,0.071,2502,3456,3781
$GC,160,-1.77,-122.2,4.2,-5.6,20,166,0.00,2.47,0.00,0.000,6,0.000,0.037,2502,2046,3782
$GC,233,-1.77,-122.2,9.5,-7.0,31,239,0.00,2.58,0.00,0.000,4,0.000,0.063,2502,650,3782
$GC,358,-1.77,-122.2,19.8,-8.9,50,365,0.00,2.47,0.00,0.000,6,0.000,0.038,2501,2058,3783
$GC,428,-1.77,-122.2,25.4,-7.8,56,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2058,3783
$GC,621,-1.77,-122.2,41.1,-8.5,71,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2058,3784
$GC,808,-1.77,-122.2,56.4,-7.9,86,812,0.00,2.60,0.00,0.000,4,0.000,0.062,2502,651,3784
$GC,854,-1.77,-122.2,60.3,-8.4,89,859,0.00,2.47,0.00,0.000,6,0.000,0.039,2502,2058,3784
$GC,1050,-1.77,-122.2,75.8,-7.6,104,1054,0.00,2.58,0.00,0.000,4,0.000,0.062,2502,657,3783
$GC,1122,-1.77,-122.2,81.8,-8.1,109,1128,0.00,2.45,0.00,0.000,6,0.000,0.038,2502,2056,3783
$GC,1318,-1.77,-122.2,96.2,-7.8,125,1322,0.00,2.60,0.00,0.000,4,0.000,0.063,2502,649,3783
$STATE,1363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1363,begin apogee
$GC,1372,-0.42,0.0,100.0,8.8,128,1523,1.50,0.00,144.07,0.640,6,0.110,0.000,2798,2500,3282
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1529,1.77,122.2,103.4,0.0,141,1682,2.20,2.70,142.57,0.615,4,0.058,0.079,3280,3888,2781
$GC,1781,1.77,122.2,77.0,14.5,160,1788,0.00,2.47,0.00,0.000,6,0.000,0.040,3280,2502,2782
$GC,1977,1.77,122.2,50.3,13.2,176,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2500,2782
$GC,2169,1.77,122.2,26.3,12.2,191,2173,0.00,2.62,0.00,0.000,4,0.000,0.072,3280,3888,2781
$GC,2306,1.77,122.2,7.5,13.2,207,2313,0.00,2.45,0.00,0.000,6,0.000,0.040,3280,2492,2781
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,0.2,1.003169
$STATE,2364,end surface coast,CONTROL_FINISHED_OK
$STATE,2364,begin surface
$SM_CCo,2395,124.03,0.569,0,0,1650,400.08
$SM_GC,0.93,0.00,0.00,124.03,0.000,0.000,0.569,134,2038,1650,-12.70,-0.34,400.08
$IRIDIUM_FIX,4719.74,-12247.38,220907,060652
$TT8_MAMPS,0.068263
$HUMID,2075
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.70
$XPDR_PINGS,105
$ALTIM_TOP_PING,9.2,999.0
$24V_AH,23.9,8.663
$10V_AH,10.0,4.444
$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,33.050,37.275,286.650,124.025,0.000,147.592,292.384,116.234,27.000,0.000,3510.000,13.678,409.818,1375.269,493.211,408.402,722.041,33.338,763.091,0.000,390.708,0.000,5.669
$DEVICE_MAMPS,204.789,79.001,639.678,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.615,0.000,0.000,0.000,0.000,0.000,0.000,3510.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,216
$CFSIZE,260034560,256040960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,030407,4739.052,-12253.389,9,1.2,25,18.3