version: 66.02
glider: 116
mission: 4
dive: 37
start: 9 22 107 4 45 7
data:
$ID,116
$MISSION,4
$DIVE,37
$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,-25743.451
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,043453,4738.888,-12253.561,11,3.6,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.9
$GPS2,044357,4738.902,-12253.418,12,1.9,12,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,0.098
$KALMAN_X,6697.1,145.2,219.7,-7590.0,121.6
$KALMAN_Y,2955.2,-62.4,59.9,-3859.0,-17.1
$MHEAD_RNG_PITCHd_Wd,280.9,293,-23.6,-10.101
$D_GRID,136
$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,-2.07,-84.4,0.0,0.0,0,108,0.00,0.00,-78.47,0.000,2,0.000,0.000,135,2039,3524
$GC,112,-2.12,-122.2,2.1,-3.0,13,143,14.68,2.60,-7.45,0.000,4,0.209,0.074,2430,658,3781
$GC,394,-2.12,-122.2,29.8,-9.4,49,400,0.00,2.47,0.00,0.000,6,0.000,0.038,2430,2066,3783
$GC,590,-2.12,-122.2,47.8,-9.3,65,594,0.00,2.60,0.00,0.000,4,0.000,0.061,2430,654,3784
$GC,769,-2.12,-122.2,65.5,-9.9,78,773,0.00,2.45,0.00,0.000,6,0.000,0.039,2430,2046,3784
$GC,964,-2.12,-122.2,84.9,-10.2,93,968,0.00,2.58,0.00,0.000,4,0.000,0.061,2429,653,3784
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1117,-0.42,0.0,100.4,10.9,104,1268,1.88,0.00,144.90,0.636,6,0.120,0.000,2800,2499,3281
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1274,2.12,122.2,104.2,0.0,117,1429,2.53,2.75,142.85,0.612,4,0.058,0.078,3361,3889,2782
$GC,1508,2.12,122.2,73.4,18.1,135,1513,0.00,2.47,0.00,0.000,6,0.000,0.041,3361,2494,2782
$GC,1704,2.12,122.2,40.4,16.4,150,1708,0.00,2.65,0.00,0.000,4,0.000,0.071,3360,3895,2781
$GC,1742,2.12,122.2,33.7,17.4,152,1749,0.00,2.47,0.00,0.000,6,0.000,0.038,3361,2502,2781
$GC,1943,2.12,122.2,3.1,13.7,176,1949,0.00,2.60,0.00,0.000,4,0.000,0.070,3361,3890,2781
$STATE,1953,end climb,SURFACE_DEPTH_REACHED
$STATE,1953,begin surface coast
$FINISH,0.1,1.001364
$STATE,1968,end surface coast,CONTROL_FINISHED_OK
$STATE,1968,begin surface
$SM_CCo,2001,123.35,0.563,0,0,1649,400.08
$SM_GC,0.84,0.00,0.00,123.35,0.000,0.000,0.563,137,2046,1649,-12.69,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,220907,080804
$TT8_MAMPS,0.066729
$HUMID,2092
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,102
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.9,8.944
$10V_AH,10.0,4.623
$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,33.875,32.325,287.750,123.350,0.000,77.720,80.911,200.733,26.250,0.000,2809.000,12.598,341.858,981.898,485.653,376.266,514.267,33.330,731.264,0.000,360.786,0.000,5.672
$DEVICE_MAMPS,208.624,78.234,635.843,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.423,0.000,0.000,0.000,0.000,0.000,0.000,2809.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3300,180
$CFSIZE,260034560,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,052137,4738.887,-12253.680,13,1.1,29,18.3