version: 66.02
glider: 116
mission: 4
dive: 36
start: 9 22 107 4 1 38
data:
$ID,116
$MISSION,4
$DIVE,36
$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,-25730.223
$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,21
$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
$GPS1,035502,4738.962,-12253.476,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.2
$GPS2,040027,4738.987,-12253.395,12,1.8,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.010
$KALMAN_X,6427.6,113.4,223.6,-7262.9,103.4
$KALMAN_Y,3089.7,-92.1,63.2,-3813.1,44.1
$MHEAD_RNG_PITCHd_Wd,248.4,261,-26.2,-10.101
$D_GRID,135
$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,-2.27,-68.9,0.0,0.0,0,108,0.00,0.00,-78.47,0.000,2,0.000,0.000,135,2046,3519
$GC,112,-2.34,-122.2,2.0,-2.2,13,143,14.35,2.62,-7.57,0.000,4,0.209,0.074,2381,651,3780
$GC,311,-2.34,-122.2,23.7,-11.2,41,315,0.00,2.47,0.00,0.000,6,0.000,0.038,2381,2058,3782
$GC,506,-2.34,-122.2,45.1,-11.8,56,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2057,3783
$GC,697,-2.34,-122.2,66.1,-11.1,71,702,0.00,2.60,0.00,0.000,4,0.000,0.062,2381,648,3782
$GC,743,-2.34,-122.2,71.7,-12.3,74,747,0.00,2.47,0.00,0.000,6,0.000,0.038,2380,2059,3783
$GC,939,-2.34,-122.2,94.1,-11.7,89,943,0.00,2.60,0.00,0.000,4,0.000,0.062,2380,648,3783
$STATE,988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,988,begin apogee
$GC,998,-0.42,0.0,100.3,12.0,92,1149,2.15,0.00,144.57,0.635,6,0.123,0.000,2800,2495,3281
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1155,2.34,122.2,102.4,0.0,105,1309,2.72,2.75,142.73,0.611,4,0.058,0.077,3406,3888,2782
$GC,1527,2.34,122.2,40.2,20.1,133,1534,0.00,2.50,0.00,0.000,6,0.000,0.040,3406,2493,2782
$GC,1727,2.34,122.2,5.2,17.7,155,1733,0.00,2.62,0.00,0.000,4,0.000,0.070,3406,3889,2782
$STATE,1751,end climb,SURFACE_DEPTH_REACHED
$STATE,1751,begin surface coast
$FINISH,0.1,1.001013
$STATE,1767,end surface coast,CONTROL_FINISHED_OK
$STATE,1767,begin surface
$SM_CCo,1800,126.53,0.564,0,0,1649,400.08
$SM_GC,0.86,0.00,0.00,126.53,0.000,0.000,0.564,135,2039,1649,-12.70,-0.31,400.08
$IRIDIUM_FIX,-1740.58,14527.74,220907,070710
$TT8_MAMPS,0.06903
$HUMID,2091
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.80
$XPDR_PINGS,85
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.9,8.847
$10V_AH,10.0,4.562
$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,34.300,27.325,287.300,126.525,0.000,39.052,38.479,130.588,22.000,0.000,2368.000,12.891,306.848,817.567,484.817,329.529,343.998,33.338,706.911,0.000,313.091,0.000,7.688
$DEVICE_MAMPS,208.624,76.700,635.076,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.560,0.000,0.000,0.000,0.000,0.000,0.000,2368.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3327,161
$CFSIZE,260034560,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,043453,4738.888,-12253.561,11,3.6,30,18.3