version: 66.02
glider: 116
mission: 2
dive: 5
start: 9 16 107 0 51 34
data:
$ID,116
$MISSION,2
$DIVE,5
$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,25
$T_MISSION,75
$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,500
$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,-23973.264
$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,22
$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
$GPS1,004515,4806.866,-12222.961,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-64.4
$GPS2,005033,4806.839,-12222.939,14,1.4,14,18.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.047,0.194
$KALMAN_X,94.2,58.4,50.1,-153.9,4.0
$KALMAN_Y,-364.0,-206.4,-177.1,710.3,-26.8
$MHEAD_RNG_PITCHd_Wd,328.1,306,-11.3,-6.000
$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,28,-1.02,-122.2,0.0,0.0,0,127,0.00,0.00,-96.45,0.000,2,0.000,0.000,130,2016,3513
$GC,132,-1.02,-122.2,2.2,-3.8,16,163,15.75,0.00,-11.23,0.000,6,0.193,0.000,2675,2016,3894
$GC,229,-1.02,-122.2,6.1,-4.0,31,236,0.00,2.62,0.00,0.000,4,0.000,0.067,2675,3433,3896
$GC,331,-1.02,-122.2,9.4,-3.0,46,337,0.00,2.50,0.00,0.000,6,0.000,0.039,2675,2016,3896
$GC,404,-1.02,-122.2,11.2,-2.2,57,410,0.00,2.58,0.00,0.000,4,0.000,0.064,2676,623,3896
$GC,463,-1.02,-122.2,12.9,-3.0,66,470,0.00,2.50,0.00,0.000,6,0.000,0.039,2675,2037,3897
$GC,536,-1.02,-122.2,15.0,-3.1,77,543,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3432,3896
$GC,631,-1.02,-122.2,17.8,-3.3,91,637,0.00,2.47,0.00,0.000,6,0.000,0.038,2675,2018,3897
$GC,704,-1.02,-122.2,20.2,-3.3,102,708,0.00,2.55,0.00,0.000,4,0.000,0.061,2675,629,3897
$GC,782,-1.02,-122.2,23.1,-3.6,107,789,0.00,2.47,0.00,0.000,6,0.000,0.038,2675,2032,3897
$GC,979,-1.02,-122.2,30.2,-4.0,123,983,0.00,2.60,0.00,0.000,4,0.000,0.069,2675,3432,3897
$GC,1170,-1.02,-122.2,38.0,-4.3,137,1175,0.00,2.47,0.00,0.000,6,0.000,0.040,2675,2025,3897
$STATE,1363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1364,begin apogee
$GC,1370,-0.38,0.0,45.3,3.8,152,1451,0.68,0.00,77.20,0.635,6,0.075,0.000,2817,2385,3621
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1455,1.02,122.2,46.9,0.0,159,1606,1.35,2.65,139.23,0.604,4,0.053,0.054,3119,985,3122
$GC,1711,1.02,122.2,32.0,7.6,179,1718,0.00,2.55,0.00,0.000,6,0.000,0.044,3119,2379,3122
$GC,1908,1.02,122.2,17.6,6.8,197,1915,0.00,2.70,0.00,0.000,4,0.000,0.079,3119,3790,3122
$GC,1954,1.02,122.2,14.3,7.4,204,1961,0.00,2.50,0.00,0.000,6,0.000,0.041,3119,2381,3121
$GC,2027,1.02,122.2,9.1,7.1,215,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2380,3122
$GC,2099,1.02,122.2,4.5,6.2,226,2105,0.00,2.70,0.00,0.000,4,0.000,0.077,3119,3789,3122
$GC,2145,1.05,150.0,2.1,5.1,233,2153,0.00,2.50,2.75,0.714,2,0.000,0.041,3119,2376,3107
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,1.2,1.020393
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2195,164.90,0.577,0,0,1583,500.17
$SM_GC,0.68,0.00,0.00,164.90,0.000,0.000,0.577,135,2020,1583,-12.72,-0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,160907,040436
$TT8_MAMPS,0.067496
$HUMID,2154
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.70
$XPDR_PINGS,10
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.8,0.703
$10V_AH,10.0,0.499
$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,31.850,42.275,219.175,164.900,0.000,37.922,41.240,129.689,2.750,0.000,2833.000,14.558,439.337,969.200,503.924,435.807,352.298,33.324,787.609,0.000,423.103,0.000,2.551
$DEVICE_MAMPS,192.517,79.001,714.077,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.777,0.000,0.000,0.000,0.000,0.000,0.000,2833.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,236
$CFSIZE,260034560,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,013144,4806.901,-12222.913,8,1.8,13,18.3