version: 66.02
glider: 116
mission: 4
dive: 66
start: 9 23 107 6 34 33
data:
$ID,116
$MISSION,4
$DIVE,66
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$T_MISSION,80
$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,100
$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,-26453.66
$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
$GPS1,062323,4738.540,-12252.883,11,2.1,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.1
$GPS2,063323,4738.574,-12252.886,16,3.2,35,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.208,-0.013
$KALMAN_X,11723.2,-88.1,247.9,-11738.4,14.0
$KALMAN_Y,3662.5,26.4,221.5,-5431.0,-35.8
$MHEAD_RNG_PITCHd_Wd,75.3,609,-19.6,-8.889
$D_GRID,137
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.75,-97.8,0.0,0.0,0,85,0.00,0.00,-54.60,0.000,2,0.000,0.000,134,2046,2969
$GC,89,-1.75,-97.8,2.1,-4.6,9,138,15.30,2.62,-25.50,0.000,4,0.210,0.071,2509,3471,3680
$GC,390,-1.75,-97.8,18.1,-6.1,55,397,0.00,2.47,0.00,0.000,6,0.000,0.037,2509,2049,3682
$GC,461,-1.75,-97.8,22.4,-6.1,63,465,0.00,2.58,0.00,0.000,4,0.000,0.063,2509,646,3682
$GC,601,-1.75,-97.8,30.3,-5.0,73,607,0.00,2.47,0.00,0.000,6,0.000,0.037,2509,2065,3683
$GC,797,-1.75,-97.8,40.9,-5.4,89,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2065,3682
$GC,989,-1.75,-97.8,52.4,-6.6,104,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2065,3682
$GC,1177,-1.75,-97.8,64.6,-6.4,119,1182,0.00,2.62,0.00,0.000,4,0.000,0.062,2509,650,3682
$GC,1282,-1.75,-97.8,71.4,-6.1,126,1288,0.00,2.47,0.00,0.000,6,0.000,0.038,2509,2058,3665
$GC,1478,-1.75,-97.8,83.2,-5.7,142,1483,0.00,2.60,0.00,0.000,4,0.000,0.062,2509,655,3682
$GC,1570,-1.75,-97.8,89.0,-6.2,148,1577,0.00,2.45,0.00,0.000,6,0.000,0.038,2509,2047,3682
$GC,1767,-1.75,-97.8,100.3,-5.9,164,1771,0.00,2.60,0.00,0.000,4,0.000,0.063,2509,650,3682
$GC,1938,-1.75,-97.8,112.0,-6.7,176,1945,0.00,2.47,0.00,0.000,6,0.000,0.038,2509,2060,3683
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2077,-0.42,0.0,120.1,6.1,187,2197,1.52,0.00,116.30,0.657,6,0.114,0.000,2797,2498,3281
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2203,1.75,97.8,120.9,0.0,197,2325,2.20,0.00,115.20,0.630,6,0.060,0.000,3284,2498,2882
$GC,2514,1.75,97.8,85.9,13.3,222,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2498,2882
$GC,2704,1.75,97.8,60.6,13.2,237,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2498,2881
$GC,2894,1.75,97.8,36.0,12.6,252,2898,0.00,2.65,0.00,0.000,4,0.000,0.077,3285,3892,2881
$GC,2985,1.75,97.8,23.4,13.1,258,2992,0.00,2.47,0.00,0.000,6,0.000,0.040,3285,2502,2881
$GC,3190,1.83,164.2,2.9,4.8,287,3215,0.00,0.00,23.05,0.612,2,0.000,0.000,3284,2500,2720
$STATE,3216,end climb,SURFACE_DEPTH_REACHED
$STATE,3216,begin surface coast
$FINISH,0.5,1.019990
$STATE,3262,end surface coast,CONTROL_FINISHED_OK
$STATE,3262,begin surface
$SM_CCo,3291,117.75,0.576,0,0,1649,400.08
$SM_GC,0.96,0.00,0.00,117.75,0.000,0.000,0.576,133,2038,1649,-12.71,-0.31,400.08
$IRIDIUM_FIX,4722.92,-12207.44,230907,101039
$TT8_MAMPS,0.068263
$HUMID,2086
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.70
$XPDR_PINGS,159
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.3,11.978
$10V_AH,10.1,6.627
$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,33.525,32.125,254.550,117.750,0.000,77.674,73.871,233.508,41.000,76.590,4044.410,38.568,545.973,1885.816,467.819,562.838,574.556,33.342,778.359,0.000,522.267,0.000,8.790
$DEVICE_MAMPS,210.158,76.700,657.319,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.507,0.000,0.000,0.000,0.000,0.000,0.000,4121.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9593,298
$CFSIZE,260034560,255029248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,073229,4738.640,-12252.453,9,3.8,29,18.3