version: 66.02
glider: 116
mission: 4
dive: 67
start: 9 23 107 7 39 33
data:
$ID,116
$MISSION,4
$DIVE,67
$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,-26490.156
$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,21
$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
$GPS1,073229,4738.640,-12252.453,9,3.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.9
$GPS2,073823,4738.663,-12252.433,15,2.1,34,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.087,-0.127
$KALMAN_X,11717.4,-33.7,201.1,-11179.3,-126.5
$KALMAN_Y,3873.0,67.2,140.6,-5439.0,2.2
$MHEAD_RNG_PITCHd_Wd,127.1,244,-27.1,-8.889
$D_GRID,132
$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,-2.32,-52.9,0.0,0.0,0,90,0.00,0.00,-60.47,0.000,2,0.000,0.000,133,2039,3117
$GC,94,-2.36,-84.8,2.2,-5.3,10,131,14.60,0.00,-17.62,0.000,6,0.214,0.000,2376,2039,3628
$GC,197,-2.36,-85.1,9.1,-8.9,26,203,0.00,2.60,0.00,0.000,4,0.000,0.058,2376,3455,3630
$GC,363,-2.38,-97.8,20.0,-7.0,51,369,0.00,2.47,-0.75,0.000,6,0.000,0.038,2376,2044,3684
$GC,432,-2.38,-97.8,24.7,-6.9,57,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2044,3684
$GC,625,-2.38,-97.8,40.0,-8.6,72,629,0.00,2.58,0.00,0.000,4,0.000,0.064,2377,657,3684
$GC,717,-2.38,-97.8,48.3,-8.6,78,723,0.00,2.47,0.00,0.000,6,0.000,0.038,2376,2065,3684
$GC,913,-2.38,-97.8,65.4,-9.1,94,917,0.00,2.62,0.00,0.000,4,0.000,0.061,2376,649,3684
$GC,1149,-2.38,-97.8,87.8,-8.9,111,1156,0.00,2.50,0.00,0.000,6,0.000,0.038,2377,2052,3684
$GC,1346,-2.38,-97.8,105.1,-8.3,127,1350,0.00,2.62,0.00,0.000,4,0.000,0.061,2376,656,3684
$GC,1423,-2.38,-97.8,112.5,-9.6,132,1430,0.00,2.50,0.00,0.000,6,0.000,0.039,2376,2054,3684
$STATE,1504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1504,begin apogee
$GC,1512,-0.42,0.0,120.2,9.2,139,1639,2.20,0.00,117.12,0.653,6,0.127,0.000,2800,2502,3282
$STATE,1642,end apogee,CONTROL_FINISHED_OK
$STATE,1642,begin climb
$GC,1645,2.38,97.8,122.3,0.0,150,1766,2.78,0.00,115.22,0.624,6,0.058,0.000,3415,2502,2882
$GC,1950,2.38,97.8,76.9,17.9,175,1955,0.00,2.65,0.00,0.000,4,0.000,0.077,3414,3891,2882
$GC,2028,2.38,97.8,61.7,19.0,180,2035,0.00,2.50,0.00,0.000,6,0.000,0.040,3415,2495,2882
$GC,2225,2.38,97.8,27.1,17.3,196,2229,0.00,2.62,0.00,0.000,4,0.000,0.070,3415,3887,2881
$GC,2290,2.38,97.8,15.6,16.9,202,2296,0.00,2.45,0.00,0.000,6,0.000,0.040,3415,2497,2882
$GC,2363,2.38,97.8,4.7,13.6,213,2369,0.00,2.62,0.00,0.000,4,0.000,0.069,3415,3890,2881
$STATE,2393,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,0.8,1.020002
$STATE,2421,end surface coast,CONTROL_FINISHED_OK
$STATE,2421,begin surface
$SM_CCo,2456,139.70,0.569,0,0,1650,400.08
$SM_GC,0.96,0.00,0.00,139.70,0.000,0.000,0.569,136,2042,1650,-12.69,-0.23,400.08
$IRIDIUM_FIX,4719.74,-12158.63,230907,101013
$TT8_MAMPS,0.069797
$HUMID,2079
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.80
$XPDR_PINGS,125
$ALTIM_TOP_PING,9.2,999.0
$24V_AH,23.9,12.080
$10V_AH,10.1,6.693
$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,35.400,37.375,232.350,139.700,0.000,40.372,32.964,134.431,32.500,58.040,3001.960,35.868,425.294,1254.424,486.214,442.022,369.494,33.363,739.990,0.000,403.913,0.000,10.752
$DEVICE_MAMPS,213.993,76.700,652.717,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.059,0.000,0.000,0.000,0.000,0.000,0.000,3060.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,222
$CFSIZE,260034560,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,082407,4738.528,-12252.170,37,1.5,42,18.3