version: 66.02
glider: 116
mission: 2
dive: 3
start: 9 15 107 23 35 33
data:
$ID,116
$MISSION,2
$DIVE,3
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51276
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-23928.682
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,2025
$C_ROLL_CLIMB,2385
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3893
$C_VBD,3621
$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,-0.32929304
$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
$GPS1,233008,4806.724,-12222.899,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-62.9
$GPS2,233438,4806.711,-12222.896,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.060,0.232
$KALMAN_X,73.4,41.0,40.2,-53.0,21.0
$KALMAN_Y,-282.1,-148.3,-145.3,305.4,-71.3
$MHEAD_RNG_PITCHd_Wd,327.2,549,-19.3,-10.000
$D_GRID,103
$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,29,-1.63,-122.2,0.0,0.0,0,135,0.00,0.00,-102.50,0.000,2,0.000,0.000,136,2017,3648
$GC,140,-1.63,-122.2,2.0,-4.6,17,171,14.90,2.67,-7.68,0.000,4,0.194,0.077,2539,3431,3894
$GC,218,-1.63,-122.2,5.4,-5.1,29,224,0.00,2.47,0.00,0.000,6,0.000,0.038,2539,2017,3896
$GC,291,-1.63,-122.2,7.9,-3.0,40,297,0.00,2.55,0.00,0.000,4,0.000,0.061,2539,625,3895
$GC,357,-1.63,-122.2,10.5,-3.9,50,363,0.00,2.50,0.00,0.000,6,0.000,0.038,2539,2040,3897
$GC,430,-1.63,-122.2,13.5,-4.2,61,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2040,3897
$GC,502,-1.63,-122.2,16.9,-4.8,72,508,0.00,2.60,0.00,0.000,4,0.000,0.058,2539,625,3896
$GC,562,-1.63,-122.2,19.8,-4.8,81,568,0.00,2.47,0.00,0.000,6,0.000,0.038,2539,2028,3897
$GC,631,-1.63,-122.2,23.1,-4.8,87,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2028,3897
$GC,824,-1.63,-122.2,32.7,-5.3,102,828,0.00,2.58,0.00,0.000,4,0.000,0.060,2539,632,3897
$GC,883,-1.63,-122.2,36.3,-5.8,106,888,0.00,2.47,0.00,0.000,6,0.000,0.040,2539,2025,3897
$STATE,1038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1039,begin apogee
$GC,1047,-0.38,0.0,45.3,6.1,118,1127,1.35,0.00,76.28,0.627,6,0.097,0.000,2810,2384,3621
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1129,begin climb
$GC,1131,1.63,122.2,46.7,0.0,125,1282,2.00,2.80,138.73,0.597,4,0.050,0.084,3257,3785,3122
$GC,1316,1.63,122.2,32.7,12.3,140,1320,0.00,2.50,0.00,0.000,6,0.000,0.041,3257,2388,3122
$GC,1515,1.63,122.2,8.9,12.7,161,1521,0.00,2.58,0.00,0.000,4,0.000,0.057,3257,981,3122
$GC,1554,1.63,122.2,4.0,12.1,167,1560,0.00,2.55,0.00,0.000,6,0.000,0.044,3258,2395,3122
$STATE,1578,end climb,SURFACE_DEPTH_REACHED
$STATE,1578,begin surface coast
$FINISH,0.2,1.020154
$STATE,1599,end surface coast,CONTROL_FINISHED_OK
$STATE,1599,begin surface
$SM_CCo,1629,210.23,0.562,0,0,1175,600.00
$SM_GC,0.72,0.00,0.00,210.23,0.000,0.000,0.562,129,2008,1175,-12.75,-0.48,600.00
$IRIDIUM_FIX,4748.51,-12221.84,160907,030308
$TT8_MAMPS,0.068263
$HUMID,2065
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.4,0.531
$10V_AH,10.0,0.386
$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,32.500,32.125,215.000,210.225,0.000,0.000,0.000,0.000,0.500,74.342,1645.658,15.580,322.467,668.768,533.395,305.673,87.702,31.413,756.671,0.000,302.878,0.000,2.552
$DEVICE_MAMPS,194.051,84.370,627.406,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.041,0.000,0.000,0.000,0.000,0.000,0.000,1720.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3323,174
$CFSIZE,260034560,257626112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,000717,4806.812,-12222.947,8,2.1,27,18.3