version: 66.02
glider: 116
mission: 6
dive: 87
start: 9 29 107 16 1 21
data:
$ID,116
$MISSION,6
$DIVE,87
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,40
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,14400
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-31059.326
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2905
$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,1000
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,640
$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
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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
$GPS1,155401,4739.036,-12253.455,38,1.2,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.4
$GPS2,160027,4739.067,-12253.396,13,1.4,13,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.213
$KALMAN_X,3161.3,-176.4,-179.4,-2861.2,8.6
$KALMAN_Y,2358.8,-162.5,-166.0,-1441.5,48.6
$MHEAD_RNG_PITCHd_Wd,152.0,378,-27.5,-12.500
$D_GRID,150
$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,-2.40,-88.0,0.0,0.0,0,97,0.00,0.00,-66.22,0.000,2,0.000,0.000,136,1009,3111
$GC,101,-2.48,-146.6,2.1,-5.0,11,145,14.40,2.55,-23.30,0.000,4,0.213,0.054,2361,2414,3879
$GC,395,-2.48,-146.6,40.1,-13.5,45,402,0.00,2.60,0.00,0.000,6,0.000,0.051,2362,1001,3880
$GC,592,-2.48,-146.6,66.6,-13.7,61,596,0.00,2.53,0.00,0.000,4,0.000,0.041,2362,2418,3881
$GC,849,-2.48,-146.6,100.8,-12.4,80,855,0.00,2.58,0.00,0.000,6,0.000,0.053,2361,1001,3880
$GC,1045,-2.48,-146.6,125.8,-13.2,96,1049,0.00,2.50,0.00,0.000,4,0.000,0.041,2362,2412,3880
$GC,1161,-2.48,-146.6,141.0,-14.4,104,1165,0.00,2.58,0.00,0.000,6,0.000,0.053,2362,1000,3881
$GC,1357,-2.48,-146.6,148.4,-0.0,119,1361,0.00,2.50,0.00,0.000,4,0.000,0.041,2362,2413,3881
$GC,1616,-2.48,-146.6,148.3,0.4,138,1621,0.00,2.58,0.00,0.000,6,0.000,0.054,2362,1000,3880
$GC,1812,-2.48,-146.6,148.3,-0.0,153,1816,0.00,2.50,0.00,0.000,4,0.000,0.041,2362,2415,3881
$GC,2072,-2.48,-146.6,148.3,0.1,172,2076,0.00,2.60,0.00,0.000,6,0.000,0.053,2362,992,3881
$GC,2268,-2.48,-146.6,148.2,0.1,187,2272,0.00,2.53,0.00,0.000,4,0.000,0.041,2362,2422,3881
$GC,2526,-2.48,-146.6,148.2,0.5,206,2530,0.00,2.60,0.00,0.000,6,0.000,0.052,2362,993,3880
$GC,2722,-2.48,-146.6,148.1,0.0,221,2726,0.00,2.50,0.00,0.000,4,0.000,0.041,2362,2412,3880
$GC,2981,-2.48,-146.6,148.2,-0.1,240,2986,0.00,2.58,0.00,0.000,6,0.000,0.053,2362,1002,3880
$GC,3177,-2.48,-146.6,148.1,0.2,255,3181,0.00,2.50,0.00,0.000,4,0.000,0.041,2362,2414,3879
$GC,3437,-2.48,-146.6,148.1,0.0,274,3442,0.00,2.58,0.00,0.000,6,0.000,0.053,2361,998,3880
$GC,3633,-2.48,-146.6,148.0,0.1,289,3637,0.00,2.53,0.00,0.000,4,0.000,0.040,2361,2420,3880
$GC,3893,-2.48,-146.6,148.0,0.5,308,3897,0.00,2.60,0.00,0.000,6,0.000,0.052,2362,993,3880
$GC,4089,-2.48,-146.6,147.9,0.2,323,4093,0.00,2.50,0.00,0.000,4,0.000,0.040,2362,2414,3879
$GC,4349,-2.48,-146.6,147.9,0.3,342,4353,0.00,2.58,0.00,0.000,6,0.000,0.053,2361,999,3879
$GC,4544,-2.48,-146.6,147.9,0.1,357,4549,0.00,2.53,0.00,0.000,4,0.000,0.040,2362,2420,3880
$GC,4804,-2.48,-146.6,147.9,0.2,376,4808,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,1001,3879
$GC,5000,-2.48,-146.6,147.9,-0.1,391,5004,0.00,2.50,0.00,0.000,4,0.000,0.040,2362,2419,3879
$GC,5260,-2.48,-146.6,147.8,0.0,410,5264,0.00,2.60,0.00,0.000,6,0.000,0.051,2362,998,3879
$GC,5456,-2.48,-146.6,147.8,-0.1,425,5460,0.00,2.50,0.00,0.000,4,0.000,0.039,2362,2418,3879
$GC,5714,-2.48,-146.6,147.8,-0.1,444,5718,0.00,2.58,0.00,0.000,6,0.000,0.051,2362,1000,3879
$GC,5910,-2.48,-146.6,147.7,0.1,459,5914,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2423,3879
$GC,6169,-2.48,-146.6,147.6,0.4,478,6174,0.00,2.60,0.00,0.000,6,0.000,0.051,2361,994,3879
$GC,6365,-2.48,-146.6,147.6,0.2,493,6369,0.00,2.53,0.00,0.000,4,0.000,0.040,2361,2420,3879
$GC,6625,-2.48,-146.6,147.6,0.5,512,6630,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,1000,3879
$GC,6821,-2.48,-146.6,147.6,0.0,527,6825,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2420,3879
$GC,7081,-2.48,-146.6,147.6,-0.3,546,7085,0.00,2.60,0.00,0.000,6,0.000,0.051,2361,995,3879
$GC,7277,-2.48,-146.6,147.4,0.3,561,7281,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2414,3878
$GC,7537,-2.48,-146.6,147.5,0.1,580,7541,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,998,3878
$GC,7732,-2.48,-146.6,147.4,0.2,595,7737,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2420,3879
$GC,7992,-2.48,-146.6,147.4,0.2,614,7996,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,999,3878
$GC,8188,-2.48,-146.6,147.3,0.1,629,8192,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2417,3878
$GC,8446,-2.48,-146.6,147.3,0.4,648,8450,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,998,3878
$GC,8642,-2.48,-146.6,147.4,0.0,663,8646,0.00,2.50,0.00,0.000,4,0.000,0.039,2361,2419,3878
$GC,8902,-2.48,-146.6,147.4,0.1,682,8906,0.00,2.58,0.00,0.000,6,0.000,0.051,2361,999,3878
$GC,9098,-2.48,-146.6,147.3,-0.1,697,9102,0.00,2.50,0.00,0.000,4,0.000,0.040,2361,2422,3878
$STATE,9305,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9305,begin apogee
$GC,9312,-0.42,0.0,147.4,0.3,712,9492,2.15,0.00,173.20,0.678,6,0.089,0.000,2811,2518,3281
$STATE,9493,end apogee,CONTROL_FINISHED_OK
$STATE,9493,begin climb
$GC,9496,2.48,146.6,147.2,0.0,727,9680,2.80,2.65,171.40,0.647,4,0.048,0.051,3445,1090,2683
$GC,9772,2.48,146.6,105.5,20.2,749,9776,0.00,2.55,0.00,0.000,6,0.000,0.041,3445,2514,2683
$GC,9969,2.48,146.6,65.1,20.5,764,9973,0.00,2.60,0.00,0.000,4,0.000,0.072,3445,3891,2683
$GC,10180,2.48,146.6,18.2,20.9,780,10187,0.00,2.45,0.00,0.000,6,0.000,0.038,3445,2495,2682
$GC,10253,2.48,146.6,3.8,20.1,791,10259,0.00,2.62,0.00,0.000,4,0.000,0.069,3445,3891,2682
$STATE,10263,end climb,SURFACE_DEPTH_REACHED
$STATE,10264,begin surface coast
$FINISH,0.9,1.020565
$STATE,10271,end surface coast,CONTROL_FINISHED_OK
$STATE,10271,begin surface
$SM_CCo,10307,121.25,0.580,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,121.25,0.000,0.000,0.580,133,1007,1649,-12.76,0.20,400.08
$IRIDIUM_FIX,4722.92,-12258.89,290907,191941
$TT8_MAMPS,0.068263
$HUMID,2156
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,707
$24V_AH,23.8,25.119
$10V_AH,9.8,14.776
$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,34.575,122.650,344.600,121.250,0.000,37.934,39.021,173.139,178.250,164.950,10773.050,13.565,1556.839,6212.476,585.165,1867.876,607.009,33.332,1528.342,0.000,1815.528,0.000,12.102
$DEVICE_MAMPS,213.226,72.098,678.028,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,534.810,0.000,0.000,0.000,0.000,0.000,0.000,10938.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,22105,794
$CFSIZE,260034560,254550016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,185625,4738.948,-12253.352,37,1.7,37,18.3