version: 66.02
glider: 116
mission: 6
dive: 94
start: 9 30 107 6 58 56
data:
$ID,116
$MISSION,6
$DIVE,94
$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,600
$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,-31271.443
$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,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
$GPS1,065215,4739.653,-12252.212,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.3
$GPS2,065803,4739.737,-12252.082,9,1.9,9,18.3
$SPEED_LIMITS,0.253,0.291
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.233,-0.175
$KALMAN_X,5822.7,281.4,-19.4,-4527.1,614.3
$KALMAN_Y,4152.8,181.5,-64.4,-2457.7,476.1
$MHEAD_RNG_PITCHd_Wd,214.9,2244,-24.1,-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,-2.19,-146.6,0.0,0.0,0,109,0.00,0.00,-76.82,0.000,2,0.000,0.000,136,1000,3297
$GC,113,-2.19,-146.6,2.2,-5.6,13,149,14.55,0.00,-17.70,0.000,6,0.209,0.000,2423,1000,3880
$GC,216,-2.19,-146.6,10.6,-9.3,29,222,0.00,2.50,0.00,0.000,4,0.000,0.042,2423,2417,3880
$GC,269,-2.19,-146.6,16.2,-10.9,37,275,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,991,3881
$GC,340,-2.19,-146.6,24.9,-13.0,45,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,992,3880
$GC,533,-2.19,-146.6,48.3,-12.4,60,537,0.00,2.53,0.00,0.000,4,0.000,0.041,2424,2422,3881
$GC,598,-2.19,-146.6,56.4,-11.6,64,604,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,998,3881
$GC,794,-2.19,-146.6,80.2,-12.0,80,798,0.00,2.50,0.00,0.000,4,0.000,0.041,2424,2414,3881
$GC,874,-2.19,-146.6,89.1,-11.0,86,878,0.00,2.58,0.00,0.000,6,0.000,0.053,2424,998,3881
$GC,1069,-2.19,-146.6,113.1,-12.1,101,1074,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2413,3881
$GC,1116,-2.19,-146.6,118.4,-11.4,104,1120,0.00,2.58,0.00,0.000,6,0.000,0.053,2423,998,3880
$GC,1312,-2.19,-146.6,135.0,0.1,119,1316,0.00,2.50,0.00,0.000,4,0.000,0.041,2424,2415,3881
$GC,1570,-2.19,-146.6,134.8,0.2,138,1574,0.00,2.58,0.00,0.000,6,0.000,0.052,2424,1001,3880
$GC,1765,-2.19,-146.6,134.8,0.1,153,1770,0.00,2.50,0.00,0.000,4,0.000,0.041,2424,2415,3881
$GC,2024,-2.19,-146.6,134.8,0.3,172,2028,0.00,2.60,0.00,0.000,6,0.000,0.054,2423,992,3881
$GC,2220,-2.19,-146.6,134.8,0.1,187,2224,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2418,3881
$GC,2478,-2.19,-146.6,134.8,-0.2,206,2482,0.00,2.60,0.00,0.000,6,0.000,0.052,2424,992,3881
$GC,2673,-2.19,-146.6,134.8,-0.0,221,2678,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2414,3881
$GC,2931,-2.19,-146.6,134.7,-0.1,240,2936,0.00,2.60,0.00,0.000,6,0.000,0.053,2423,992,3880
$GC,3127,-2.19,-146.6,134.8,-0.1,255,3131,0.00,2.55,0.00,0.000,4,0.000,0.041,2423,2423,3880
$GC,3385,-2.19,-146.6,134.7,0.2,274,3390,0.00,2.60,0.00,0.000,6,0.000,0.054,2423,998,3880
$GC,3581,-2.19,-146.6,134.6,0.1,289,3585,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2414,3880
$GC,3839,-2.19,-146.6,134.7,-0.0,308,3843,0.00,2.58,0.00,0.000,6,0.000,0.053,2424,998,3880
$GC,4035,-2.19,-146.6,134.7,0.1,323,4039,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2415,3880
$GC,4293,-2.19,-146.6,134.7,0.0,342,4297,0.00,2.58,0.00,0.000,6,0.000,0.053,2423,1001,3880
$GC,4489,-2.19,-146.6,134.6,-0.0,357,4493,0.00,2.50,0.00,0.000,4,0.000,0.041,2424,2415,3880
$GC,4747,-2.19,-146.6,134.6,-0.2,376,4751,0.00,2.58,0.00,0.000,6,0.000,0.052,2423,1001,3880
$GC,4943,-2.19,-146.6,134.7,-0.1,391,4947,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2418,3879
$GC,5201,-2.19,-146.6,134.6,0.4,410,5205,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,992,3881
$GC,5397,-2.19,-146.6,134.6,-0.1,425,5401,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2419,3879
$GC,5655,-2.19,-146.6,134.5,0.1,444,5659,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,993,3880
$GC,5850,-2.19,-146.6,134.6,-0.0,459,5855,0.00,2.53,0.00,0.000,4,0.000,0.040,2423,2415,3880
$GC,6108,-2.19,-146.6,134.5,0.2,478,6113,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,995,3879
$GC,6304,-2.19,-146.6,134.6,-0.0,493,6309,0.00,2.53,0.00,0.000,4,0.000,0.040,2423,2424,3880
$GC,6562,-2.19,-146.6,134.6,0.1,512,6567,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,994,3879
$GC,6758,-2.19,-146.6,134.5,0.1,527,6763,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2416,3879
$GC,7016,-2.19,-146.6,134.6,0.5,546,7021,0.00,2.58,0.00,0.000,6,0.000,0.052,2423,999,3879
$GC,7212,-2.19,-146.6,134.6,0.2,561,7216,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2418,3879
$GC,7470,-2.19,-146.6,134.7,-0.1,580,7475,0.00,2.58,0.00,0.000,6,0.000,0.052,2423,999,3879
$GC,7666,-2.19,-146.6,134.6,0.1,595,7670,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2415,3879
$GC,7924,-2.19,-146.6,134.7,0.1,614,7928,0.00,2.58,0.00,0.000,6,0.000,0.052,2423,1000,3879
$GC,8120,-2.19,-146.6,134.8,0.1,629,8124,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2415,3879
$GC,8378,-2.19,-146.6,134.8,0.1,648,8382,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,1001,3879
$GC,8574,-2.19,-146.6,134.8,0.0,663,8578,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2416,3879
$GC,8832,-2.19,-146.6,134.7,0.1,682,8836,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,1000,3879
$GC,9027,-2.19,-146.6,134.8,0.2,697,9032,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2419,3879
$GC,9286,-2.19,-146.6,134.9,-0.1,716,9290,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,999,3879
$GC,9482,-2.19,-146.6,135.0,-0.1,731,9486,0.00,2.50,0.00,0.000,4,0.000,0.040,2423,2420,3879
$GC,9740,-2.19,-146.6,135.0,-0.2,750,9744,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,1001,3879
$GC,9935,-2.19,-146.6,135.0,-0.0,765,9940,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2423,3879
$GC,10193,-2.19,-146.6,135.1,0.1,784,10198,0.00,2.60,0.00,0.000,6,0.000,0.051,2423,998,3879
$GC,10389,-2.19,-146.6,135.2,-0.2,799,10393,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2417,3878
$GC,10647,-2.19,-146.6,135.2,0.0,818,10652,0.00,2.60,0.00,0.000,6,0.000,0.051,2423,994,3879
$GC,10843,-2.19,-146.6,135.2,0.0,833,10847,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2424,3879
$GC,11101,-2.19,-146.6,135.2,-0.4,852,11106,0.00,2.67,0.00,0.000,6,0.000,0.051,2423,998,3879
$GC,11297,-2.19,-146.6,135.4,-0.3,867,11301,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2415,3879
$GC,11555,-2.19,-146.6,135.3,0.5,886,11560,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,999,3879
$GC,11751,-2.19,-146.6,135.4,0.1,901,11756,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2414,3879
$GC,12010,-2.19,-146.6,135.5,0.2,920,12014,0.00,2.58,0.00,0.000,6,0.000,0.051,2423,996,3879
$GC,12205,-2.19,-146.6,135.4,0.1,935,12210,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2414,3879
$GC,12238,-2.19,-146.6,135.5,0.3,937,12243,0.00,2.55,0.00,0.000,6,0.000,0.051,2423,1000,3879
$GC,12441,-2.19,-146.6,135.5,-0.0,953,12444,0.00,1.65,0.00,0.000,4,0.000,0.101,2423,160,3879
$GC,12456,-2.19,-146.6,135.5,0.2,954,12459,0.00,1.52,0.00,0.000,6,0.000,0.051,2423,1000,3879
$GC,12658,-2.19,-146.6,135.6,0.0,970,12662,0.00,1.65,0.00,0.000,4,0.000,0.096,2423,162,3879
$GC,12915,-2.19,-146.6,135.7,-0.1,989,12921,0.00,1.52,0.00,0.000,6,0.000,0.048,2423,1000,3879
$GC,13112,-2.19,-146.6,135.7,-0.1,1005,13115,0.00,1.65,0.00,0.000,4,0.000,0.094,2423,158,3879
$GC,13369,-2.19,-146.6,135.8,0.2,1024,13375,0.00,1.52,0.00,0.000,6,0.000,0.049,2423,1000,3879
$GC,13565,-2.19,-146.6,135.9,-0.0,1040,13568,0.00,1.62,0.00,0.000,4,0.000,0.091,2423,165,3879
$GC,13822,-2.19,-146.6,135.9,-0.3,1059,13828,0.00,1.52,0.00,0.000,6,0.000,0.048,2423,1004,3879
$GC,14018,-2.19,-146.6,135.9,-0.0,1075,14023,0.00,2.50,0.00,0.000,4,0.000,0.041,2423,2423,3879
$GC,14277,-2.19,-146.6,136.0,-0.2,1094,14281,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,998,3879
$GC,14472,-2.19,-146.6,136.0,-0.1,1109,14477,0.00,2.53,0.00,0.000,4,0.000,0.041,2423,2420,3879
$GC,14730,-2.19,-146.6,136.1,0.0,1128,14735,0.00,2.60,0.00,0.000,6,0.000,0.053,2423,993,3879
$GC,14926,-2.19,-146.6,136.2,-0.2,1143,14930,0.00,2.53,0.00,0.000,4,0.000,0.040,2423,2424,3879
$GC,15184,-2.19,-146.6,136.2,0.2,1162,15189,0.00,2.60,0.00,0.000,6,0.000,0.053,2423,995,3879
$GC,15380,-2.19,-146.6,136.2,0.2,1177,15385,0.00,2.53,0.00,0.000,4,0.000,0.040,2423,2422,3879
$GC,15639,-2.19,-146.6,136.3,0.2,1196,15643,0.00,2.60,0.00,0.000,6,0.000,0.052,2423,996,3879
$STATE,15718,end dive,NO_VERTICAL_VELOCITY
$STATE,15718,begin apogee
$GC,15727,-0.42,0.0,136.3,0.0,1202,15908,1.80,0.00,174.05,0.672,6,0.075,0.000,2814,2517,3281
$STATE,15909,end apogee,CONTROL_FINISHED_OK
$STATE,15909,begin climb
$GC,15912,2.19,146.6,136.0,0.0,1217,16095,2.55,2.65,171.77,0.643,4,0.055,0.051,3386,1092,2683
$GC,16347,2.19,146.6,66.6,17.8,1251,16351,0.00,2.55,0.00,0.000,6,0.000,0.041,3385,2512,2683
$GC,16549,2.19,146.6,30.1,17.9,1267,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2512,2683
$STATE,16705,end climb,SURFACE_DEPTH_REACHED
$STATE,16705,begin surface coast
$FINISH,0.3,1.021647
$STATE,16710,end surface coast,CONTROL_FINISHED_OK
$STATE,16710,begin surface
$SM_CCo,16743,114.55,0.578,0,0,1649,400.08
$SM_GC,0.64,0.00,0.00,114.55,0.000,0.000,0.578,134,999,1649,-12.75,-0.03,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,101016
$TT8_MAMPS,0.06903
$HUMID,2142
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,1197
$24V_AH,23.4,26.298
$10V_AH,10.1,15.975
$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,33.750,191.725,345.825,114.550,0.000,0.000,0.000,0.000,300.500,215.830,16668.170,9.384,2489.096,10419.422,627.991,2917.060,474.054,33.349,2092.014,0.000,2889.020,0.000,8.737
$DEVICE_MAMPS,208.624,101.244,671.892,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,870.141,0.000,0.000,0.000,0.000,0.000,0.000,16884.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,37789,1287
$CFSIZE,260034560,254070784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,114108,4739.771,-12252.278,36,0.9,36,18.3