version: 66.02
glider: 116
mission: 2
dive: 6
start: 9 16 107 1 38 28
data:
$ID,116
$MISSION,2
$DIVE,6
$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,-23987.975
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,013144,4806.901,-12222.913,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-65.5
$GPS2,013727,4806.870,-12222.900,14,1.9,14,18.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.088,0.169
$KALMAN_X,150.1,90.3,61.0,-206.3,10.8
$KALMAN_Y,-477.0,-274.5,-194.8,968.8,-17.6
$MHEAD_RNG_PITCHd_Wd,314.3,270,-12.2,-6.000
$D_GRID,105
$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,-1.07,-109.1,0.0,0.0,0,109,0.00,0.00,-78.53,0.000,2,0.000,0.000,135,2020,3435
$GC,112,-1.09,-122.2,2.0,-3.0,13,149,15.68,0.00,-14.32,0.000,6,0.194,0.000,2657,2020,3895
$GC,216,-1.09,-122.2,6.2,-4.0,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2020,3896
$GC,288,-1.09,-122.2,8.8,-3.3,40,294,0.00,2.65,0.00,0.000,4,0.000,0.067,2657,3435,3897
$GC,347,-1.09,-122.2,10.3,-2.7,49,353,0.00,2.50,0.00,0.000,6,0.000,0.040,2657,2021,3897
$GC,420,-1.09,-122.2,12.2,-2.7,60,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2021,3897
$GC,493,-1.09,-122.2,14.1,-2.7,71,499,0.00,2.65,0.00,0.000,4,0.000,0.067,2657,3436,3897
$GC,540,-1.09,-122.2,15.6,-3.2,78,546,0.00,2.50,0.00,0.000,6,0.000,0.039,2657,2019,3897
$GC,613,-1.09,-122.2,17.8,-3.0,89,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2019,3898
$GC,685,-1.09,-122.2,20.1,-3.1,100,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2019,3897
$GC,876,-1.09,-122.2,26.5,-3.5,115,881,0.00,2.65,0.00,0.000,4,0.000,0.066,2657,3441,3898
$GC,962,-1.09,-122.2,29.9,-4.2,121,967,0.00,2.50,0.00,0.000,6,0.000,0.039,2657,2019,3898
$GC,1158,-1.09,-122.2,37.0,-3.7,136,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2020,3898
$GC,1349,-1.09,-122.2,44.3,-3.8,151,1354,0.00,2.65,0.00,0.000,4,0.000,0.067,2657,3441,3898
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1375,-0.38,0.0,45.1,3.7,152,1456,0.73,0.00,77.97,0.630,6,0.081,0.000,2810,2374,3621
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1460,1.09,122.2,46.5,0.0,159,1614,1.45,2.80,139.57,0.603,4,0.053,0.077,3134,3785,3122
$GC,1646,1.09,122.2,36.5,8.9,174,1653,0.00,2.53,0.00,0.000,6,0.000,0.041,3134,2389,3122
$GC,1842,1.09,122.2,20.6,8.2,190,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2389,3122
$GC,2040,1.09,122.2,5.2,7.5,219,2046,0.00,2.70,0.00,0.000,4,0.000,0.077,3134,3794,3122
$STATE,2090,end climb,SURFACE_DEPTH_REACHED
$STATE,2091,begin surface coast
$FINISH,0.9,1.019954
$STATE,2125,end surface coast,CONTROL_FINISHED_OK
$STATE,2125,begin surface
$SM_CCo,2155,168.75,0.574,0,0,1581,500.17
$SM_GC,0.77,0.00,0.00,168.75,0.000,0.000,0.574,134,2014,1581,-12.72,-0.31,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,040417
$TT8_MAMPS,0.068263
$HUMID,2161
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.70
$XPDR_PINGS,41
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.8,0.787
$10V_AH,10.0,0.559
$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,32.000,31.250,217.550,168.750,0.000,40.362,33.595,152.569,10.500,0.000,2771.000,14.085,428.018,994.978,494.350,405.278,365.869,33.317,756.349,0.000,388.088,0.000,2.549
$DEVICE_MAMPS,194.051,77.467,630.474,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.580,0.000,0.000,0.000,0.000,0.000,0.000,2771.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,232
$CFSIZE,260034560,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,021823,4806.935,-12222.943,14,4.4,33,18.3