version: 66.02
glider: 116
mission: 2
dive: 4
start: 9 16 107 0 15 3
data:
$ID,116
$MISSION,2
$DIVE,4
$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,-23958.076
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,000717,4806.812,-12222.947,8,2.1,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-63.5
$GPS2,001407,4806.787,-12222.925,12,1.2,28,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.056,0.233
$KALMAN_X,83.7,46.9,44.0,-107.2,13.2
$KALMAN_Y,-326.6,-167.0,-156.1,513.3,-50.1
$MHEAD_RNG_PITCHd_Wd,328.1,406,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.63,-122.2,0.0,0.0,0,133,0.00,0.00,-102.40,0.000,2,0.000,0.000,129,2009,3662
$GC,138,-1.63,-122.2,2.3,-4.8,17,169,15.07,2.60,-6.62,0.000,4,0.196,0.073,2539,634,3895
$GC,211,-1.63,-122.2,6.9,-7.0,28,218,0.00,2.50,0.00,0.000,6,0.000,0.040,2538,2039,3896
$GC,284,-1.63,-122.2,10.0,-3.3,39,290,0.00,2.62,0.00,0.000,4,0.000,0.058,2539,620,3897
$GC,403,-1.63,-122.2,15.6,-4.7,57,409,0.00,2.50,0.00,0.000,6,0.000,0.039,2539,2031,3897
$GC,476,-1.63,-122.2,19.0,-4.4,68,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2031,3897
$GC,553,-1.63,-122.2,22.5,-4.7,76,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2031,3898
$GC,745,-1.63,-122.2,32.6,-5.5,91,749,0.00,2.60,0.00,0.000,4,0.000,0.061,2539,625,3899
$GC,797,-1.63,-122.2,35.9,-5.8,94,803,0.00,2.47,0.00,0.000,6,0.000,0.040,2539,2028,3898
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,974,-0.38,0.0,45.8,6.0,108,1055,1.33,0.00,77.28,0.624,6,0.097,0.000,2808,2379,3621
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1059,1.63,122.2,47.1,0.0,115,1210,2.00,2.80,138.75,0.599,4,0.051,0.081,3255,3785,3122
$GC,1243,1.63,122.2,32.1,12.6,130,1248,0.00,2.50,0.00,0.000,6,0.000,0.041,3254,2384,3122
$GC,1443,1.63,122.2,8.0,11.3,152,1449,0.00,2.70,0.00,0.000,4,0.000,0.077,3255,3788,3122
$STATE,1500,end climb,SURFACE_DEPTH_REACHED
$STATE,1500,begin surface coast
$FINISH,0.2,1.019944
$STATE,1523,end surface coast,CONTROL_FINISHED_OK
$STATE,1523,begin surface
$SM_CCo,1554,212.45,0.560,0,0,1175,600.00
$SM_GC,0.62,0.00,0.00,212.45,0.000,0.000,0.560,130,2016,1175,-12.74,-0.25,600.00
$IRIDIUM_FIX,4748.51,-12221.84,160907,030344
$TT8_MAMPS,0.06903
$HUMID,2098
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,999.0
$24V_AH,23.9,0.621
$10V_AH,10.0,0.438
$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,32.550,27.175,216.025,212.450,0.000,38.082,36.292,189.832,0.500,0.000,2291.000,28.765,303.866,641.931,532.380,311.509,403.178,32.335,742.471,0.000,286.191,0.000,2.551
$DEVICE_MAMPS,196.352,81.302,623.571,559.910,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,106.417,0.000,0.000,0.000,0.000,0.000,0.000,2291.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3321,164
$CFSIZE,260034560,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,004515,4806.866,-12222.961,9,1.8,9,18.3