version: 66.02
glider: 116
mission: 4
dive: 35
start: 9 22 107 3 13 25
data:
$ID,116
$MISSION,4
$DIVE,35
$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,-25716.703
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,030407,4739.052,-12253.389,9,1.2,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.4
$GPS2,031215,4739.096,-12253.273,9,1.7,9,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,-0.104
$KALMAN_X,6188.7,95.1,231.3,-6864.2,86.5
$KALMAN_Y,3105.1,-118.9,60.1,-3599.1,57.6
$MHEAD_RNG_PITCHd_Wd,226.0,447,-19.5,-10.101
$D_GRID,134
$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,-122.2,0.0,0.0,0,108,0.00,0.00,-78.43,0.000,2,0.000,0.000,134,2038,3506
$GC,112,-1.77,-122.2,2.0,-3.5,13,143,15.00,2.65,-8.50,0.000,4,0.204,0.073,2502,3463,3781
$GC,151,-1.77,-122.2,4.3,-5.0,19,157,0.00,2.47,0.00,0.000,6,0.000,0.038,2502,2052,3782
$GC,223,-1.77,-122.2,10.5,-9.5,30,230,0.00,2.58,0.00,0.000,4,0.000,0.064,2502,657,3782
$GC,369,-1.77,-122.2,22.6,-8.0,50,373,0.00,2.47,0.00,0.000,6,0.000,0.039,2502,2060,3783
$GC,565,-1.77,-122.2,37.6,-8.3,65,569,0.00,2.55,0.00,0.000,4,0.000,0.065,2502,3455,3784
$GC,596,-1.77,-122.2,40.6,-9.2,67,603,0.00,2.47,0.00,0.000,6,0.000,0.038,2501,2044,3784
$GC,793,-1.77,-122.2,56.1,-7.7,83,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2044,3783
$GC,984,-1.77,-122.2,70.6,-7.6,98,989,0.00,2.55,0.00,0.000,4,0.000,0.064,2502,656,3784
$GC,1030,-1.77,-122.2,74.4,-8.0,101,1035,0.00,2.45,0.00,0.000,6,0.000,0.039,2502,2050,3784
$GC,1229,-1.77,-122.2,90.1,-8.0,116,1233,0.00,2.58,0.00,0.000,4,0.000,0.062,2502,656,3784
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1351,-0.42,0.0,100.1,8.6,124,1502,1.50,0.00,144.38,0.640,6,0.110,0.000,2798,2493,3281
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1507,1.77,122.2,102.7,0.0,137,1662,2.20,2.70,142.93,0.614,4,0.059,0.079,3290,3885,2782
$GC,1734,1.77,122.2,77.9,16.5,154,1741,0.00,2.45,0.00,0.000,6,0.000,0.040,3290,2500,2782
$GC,1930,1.77,122.2,50.0,14.0,170,1935,0.00,2.65,0.00,0.000,4,0.000,0.073,3290,3894,2782
$GC,2004,1.77,122.2,39.2,14.9,175,2009,0.00,2.47,0.00,0.000,6,0.000,0.040,3290,2491,2781
$GC,2202,1.77,122.2,12.7,13.0,194,2208,0.00,2.65,0.00,0.000,4,0.000,0.071,3290,3895,2781
$STATE,2281,end climb,SURFACE_DEPTH_REACHED
$STATE,2281,begin surface coast
$FINISH,0.1,1.010171
$STATE,2293,end surface coast,CONTROL_FINISHED_OK
$STATE,2293,begin surface
$SM_CCo,2324,124.05,0.570,0,0,1650,400.08
$SM_GC,0.83,0.00,0.00,124.05,0.000,0.000,0.570,135,2046,1650,-12.70,-0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,220907,070711
$TT8_MAMPS,0.067496
$HUMID,2109
$INTERNAL_PRESSURE,10.9086
$TCM_TEMP,19.70
$XPDR_PINGS,112
$ALTIM_TOP_PING,9.0,999.0
$24V_AH,23.9,8.758
$10V_AH,10.0,4.510
$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,33.125,42.375,287.300,124.050,0.000,78.436,112.505,123.996,28.750,0.000,3065.000,11.439,392.894,1208.617,495.915,398.641,469.827,33.333,761.312,0.000,385.200,0.000,5.670
$DEVICE_MAMPS,204.022,79.001,640.445,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.245,0.000,0.000,0.000,0.000,0.000,0.000,3065.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,208
$CFSIZE,260034560,256020480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,035502,4738.962,-12253.476,12,1.7,12,18.3