version: 66.02
glider: 116
mission: 2
dive: 9
start: 9 16 107 4 1 2
data:
$ID,116
$MISSION,2
$DIVE,9
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,55
$T_MISSION,125
$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,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,-24088.139
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2885
$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,2300
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,035359,4806.975,-12223.022,8,7.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-59.7
$GPS2,040005,4806.945,-12222.991,12,3.1,31,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.020,0.103
$KALMAN_X,312.6,142.4,48.8,-518.9,37.4
$KALMAN_Y,-1001.2,-431.9,-126.8,1719.8,-154.3
$MHEAD_RNG_PITCHd_Wd,331.0,101,-26.4,-6.061
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.24,-29.9,0.0,0.0,0,171,0.00,0.00,-136.38,0.000,6,0.000,0.000,129,2296,3743
$GC,175,-2.27,-50.2,2.1,-3.3,23,194,14.38,0.00,-2.40,0.000,6,0.199,0.000,2385,2296,3827
$GC,262,-2.27,-50.2,7.8,-6.1,36,268,0.00,2.58,0.00,0.000,4,0.000,0.052,2385,885,3828
$GC,414,-2.27,-56.3,15.9,-5.2,59,421,0.00,2.58,-0.40,0.000,6,0.000,0.038,2385,2314,3854
$GC,489,-2.27,-56.3,20.4,-6.3,70,494,0.00,2.65,0.00,0.000,4,0.000,0.048,2385,888,3854
$GC,654,-2.27,-56.3,32.6,-7.1,82,659,0.00,2.55,0.00,0.000,6,0.000,0.040,2384,2298,3855
$GC,850,-2.27,-56.3,46.7,-7.1,97,854,0.00,2.62,0.00,0.000,4,0.000,0.051,2385,895,3856
$GC,1081,-2.27,-56.3,64.8,-8.2,114,1085,0.00,2.53,0.00,0.000,6,0.000,0.041,2385,2300,3856
$GC,1403,-2.27,-56.3,90.2,-7.8,139,1407,0.00,2.60,0.00,0.000,4,0.000,0.054,2385,891,3856
$STATE,1530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1530,begin apogee
$GC,1539,-0.42,0.0,100.2,7.9,148,1606,2.10,0.00,62.35,0.656,6,0.116,0.000,2792,2366,3623
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1610,2.27,56.3,101.9,0.0,154,1687,2.70,2.70,68.57,0.640,4,0.052,0.075,3382,3763,3392
$GC,1727,2.27,56.3,92.2,12.2,163,1734,0.00,2.55,0.00,0.000,6,0.000,0.039,3382,2356,3394
$GC,2050,2.27,56.3,53.7,11.2,189,2054,0.00,2.75,0.00,0.000,4,0.000,0.071,3382,3763,3397
$GC,2178,2.27,56.3,39.0,11.7,198,2183,0.00,2.53,0.00,0.000,6,0.000,0.041,3382,2358,3397
$GC,2374,2.27,56.3,18.3,10.0,214,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2358,3396
$GC,2446,2.27,56.3,10.9,10.2,225,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2358,3396
$GC,2518,2.27,56.3,5.1,7.5,236,2524,0.00,2.67,0.00,0.000,4,0.000,0.068,3382,3765,3396
$GC,2531,2.27,56.3,4.4,6.6,238,2537,0.00,2.60,0.00,0.000,6,0.000,0.040,3381,2359,3396
$GC,2603,2.32,96.5,3.4,0.6,249,2640,0.00,2.62,28.83,0.630,4,0.000,0.056,3382,947,3227
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,1.4,1.019899
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2766,133.23,0.585,0,0,1990,400.08
$SM_GC,0.67,0.00,0.00,133.23,0.000,0.000,0.585,131,2307,1990,-12.66,0.20,400.08
$IRIDIUM_FIX,4751.72,-12226.29,160907,070757
$TT8_MAMPS,0.068263
$HUMID,2166
$INTERNAL_PRESSURE,10.9672
$TCM_TEMP,19.70
$XPDR_PINGS,67
$ALTIM_TOP_PING,9.8,999.0
$24V_AH,23.2,1.239
$10V_AH,10.0,0.756
$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,35.100,41.825,159.750,133.225,0.000,38.827,32.625,153.735,17.500,395.651,3296.349,32.715,495.063,1419.088,448.518,534.114,385.292,33.318,756.100,0.000,494.873,0.000,5.668
$DEVICE_MAMPS,198.653,75.166,655.785,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.270,0.000,0.000,0.000,0.000,0.000,0.000,3692.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6475,269
$CFSIZE,260034560,257445888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,045009,4807.039,-12223.014,11,1.9,11,18.3