version: 66.02
glider: 116
mission: 6
dive: 92
start: 9 29 107 22 30 27
data:
$ID,116
$MISSION,6
$DIVE,92
$D_SURF,2
$D_FLARE,2
$D_TGT,175
$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,-31173.271
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,222021,4738.608,-12253.427,11,1.4,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.1
$GPS2,222933,4738.671,-12253.243,17,1.4,17,18.3
$SPEED_LIMITS,0.253,0.291
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.186
$KALMAN_X,3806.9,-91.8,355.8,-3936.5,171.7
$KALMAN_Y,2899.0,-54.3,302.5,-3286.9,53.1
$MHEAD_RNG_PITCHd_Wd,299.3,380,-27.7,-14.583
$D_GRID,175
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.45,-110.7,0.0,0.0,0,92,0.00,0.00,-60.60,0.000,2,0.000,0.000,134,1004,2988
$GC,96,-2.49,-146.6,2.1,-4.5,10,145,14.38,1.65,-28.12,0.000,4,0.213,0.114,2356,168,3879
$GC,397,-2.49,-146.6,39.1,-14.0,46,401,0.00,1.50,0.00,0.000,6,0.000,0.046,2356,997,3880
$GC,600,-2.49,-146.6,66.9,-13.8,62,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,997,3880
$GC,791,-2.49,-146.6,94.1,-15.0,77,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,997,3880
$GC,981,-2.49,-146.6,121.6,-14.2,92,985,0.00,2.50,0.00,0.000,4,0.000,0.042,2355,2410,3880
$GC,1067,-2.49,-146.6,133.5,-13.2,98,1071,0.00,2.55,0.00,0.000,6,0.000,0.052,2356,1002,3880
$GC,1269,-2.49,-146.6,156.0,-3.4,114,1273,0.00,2.47,0.00,0.000,4,0.000,0.041,2355,2413,3880
$GC,1526,-2.49,-146.6,156.1,0.2,133,1532,0.00,2.58,0.00,0.000,6,0.000,0.053,2356,999,3880
$GC,1722,-2.49,-146.6,156.1,0.1,149,1726,0.00,2.50,0.00,0.000,4,0.000,0.041,2356,2421,3879
$GC,1979,-2.49,-146.6,156.1,0.2,168,1986,0.00,2.60,0.00,0.000,6,0.000,0.052,2356,993,3880
$GC,2175,-2.49,-146.6,156.2,0.1,184,2180,0.00,2.50,0.00,0.000,4,0.000,0.041,2356,2413,3880
$GC,2435,-2.49,-146.6,156.3,-0.1,203,2440,0.00,2.60,0.00,0.000,6,0.000,0.053,2356,991,3880
$GC,2631,-2.49,-146.6,156.3,0.2,218,2635,0.00,2.53,0.00,0.000,4,0.000,0.041,2356,2422,3880
$GC,2891,-2.49,-146.6,156.2,0.1,237,2895,0.00,2.60,0.00,0.000,6,0.000,0.051,2356,992,3880
$GC,3087,-2.49,-146.6,156.4,-0.1,252,3091,0.00,2.50,0.00,0.000,4,0.000,0.040,2356,2413,3880
$GC,3347,-2.49,-146.6,156.4,-0.2,271,3351,0.00,2.58,0.00,0.000,6,0.000,0.052,2356,998,3880
$GC,3542,-2.49,-146.6,156.4,-0.0,286,3547,0.00,2.50,0.00,0.000,4,0.000,0.040,2356,2415,3879
$GC,3802,-2.49,-146.6,156.4,0.0,305,3806,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,998,3879
$GC,3998,-2.49,-146.6,156.6,-0.3,320,4002,0.00,2.50,0.00,0.000,4,0.000,0.040,2356,2416,3879
$GC,4258,-2.49,-146.6,156.5,-0.2,339,4262,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,999,3879
$GC,4454,-2.49,-146.6,156.6,-0.1,354,4458,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2420,3879
$GC,4713,-2.49,-146.6,156.6,-0.1,373,4718,0.00,2.60,0.00,0.000,6,0.000,0.051,2356,999,3879
$GC,4909,-2.49,-146.6,156.6,-0.1,388,4913,0.00,2.50,0.00,0.000,4,0.000,0.039,2355,2413,3879
$GC,5169,-2.49,-146.6,156.6,0.3,407,5174,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,997,3879
$GC,5365,-2.49,-146.6,156.6,0.1,422,5369,0.00,2.50,0.00,0.000,4,0.000,0.040,2356,2415,3879
$GC,5623,-2.49,-146.6,156.7,-0.2,441,5627,0.00,2.60,0.00,0.000,6,0.000,0.051,2356,996,3878
$GC,5819,-2.49,-146.6,156.7,-0.0,456,5823,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2416,3879
$GC,6079,-2.49,-146.6,156.7,-0.1,475,6083,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,1000,3879
$GC,6274,-2.49,-146.6,156.7,-0.0,490,6279,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2422,3878
$GC,6534,-2.49,-146.6,156.8,-0.2,509,6538,0.00,2.60,0.00,0.000,6,0.000,0.052,2356,995,3879
$GC,6730,-2.49,-146.6,156.8,0.1,524,6734,0.00,2.53,0.00,0.000,4,0.000,0.039,2356,2422,3879
$GC,6988,-2.49,-146.6,156.9,-0.5,543,6993,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,999,3878
$GC,7184,-2.49,-146.6,156.9,-0.1,558,7188,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2420,3878
$GC,7444,-2.49,-146.6,156.9,-0.1,577,7448,0.00,2.60,0.00,0.000,6,0.000,0.051,2355,998,3877
$GC,7640,-2.49,-146.6,156.9,-0.0,592,7644,0.00,2.50,0.00,0.000,4,0.000,0.040,2356,2419,3878
$GC,7899,-2.49,-146.6,156.9,-0.1,611,7904,0.00,2.58,0.00,0.000,6,0.000,0.051,2355,999,3878
$GC,8095,-2.49,-146.6,156.9,0.0,626,8100,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2422,3877
$GC,8355,-2.49,-146.6,156.9,-0.1,645,8360,0.00,2.60,0.00,0.000,6,0.000,0.051,2356,992,3878
$GC,8551,-2.49,-146.6,157.0,0.0,660,8555,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2414,3878
$GC,8811,-2.49,-146.6,157.0,-0.1,679,8815,0.00,2.58,0.00,0.000,6,0.000,0.051,2356,996,3878
$GC,9007,-2.49,-146.6,157.0,-0.0,694,9011,0.00,2.50,0.00,0.000,4,0.000,0.039,2356,2417,3878
$GC,9267,-2.49,-146.6,157.0,0.0,713,9271,0.00,2.60,0.00,0.000,6,0.000,0.051,2356,991,3879
$STATE,9308,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9308,begin apogee
$GC,9317,-0.42,0.0,157.0,0.1,716,9498,2.22,0.00,173.70,0.681,6,0.112,0.000,2809,2510,3281
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9502,2.49,146.6,156.4,0.0,731,9685,2.88,2.67,172.65,0.648,4,0.054,0.051,3452,1093,2683
$GC,9897,2.49,146.6,86.0,21.1,762,9901,0.00,2.55,0.00,0.000,6,0.000,0.041,3451,2516,2683
$GC,10092,2.49,146.6,44.6,20.6,777,10096,0.00,2.58,0.00,0.000,4,0.000,0.072,3451,3888,2682
$GC,10237,2.49,146.6,13.6,21.4,790,10243,0.00,2.45,0.00,0.000,6,0.000,0.038,3451,2490,2683
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,1.2,1.020673
$STATE,10322,end surface coast,CONTROL_FINISHED_OK
$STATE,10322,begin surface
$SM_CCo,10356,117.32,0.579,0,0,1650,400.08
$SM_GC,0.78,0.00,0.00,117.32,0.000,0.000,0.579,136,1000,1650,-12.74,0.00,400.08
$IRIDIUM_FIX,4719.74,-12251.79,300907,020227
$TT8_MAMPS,0.06903
$HUMID,2160
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.80
$XPDR_PINGS,708
$24V_AH,23.8,25.785
$10V_AH,10.0,15.259
$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,35.100,115.550,346.350,117.325,0.000,77.878,121.803,155.154,178.750,169.960,10959.040,17.115,1559.010,6342.418,573.800,1859.943,704.033,33.328,1511.190,0.000,1802.178,0.000,11.854
$DEVICE_MAMPS,213.226,114.283,681.096,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,541.068,0.000,0.000,0.000,0.000,0.000,0.000,11129.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,22129,803
$CFSIZE,260034560,254377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,012627,4738.857,-12253.307,29,2.4,48,18.3