version: 66.02
glider: 116
mission: 2
dive: 12
start: 9 16 107 6 58 7
data:
$ID,116
$MISSION,2
$DIVE,12
$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,-24133.965
$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,2375
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,065108,4806.951,-12223.082,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-59.0
$GPS2,065709,4806.903,-12223.098,14,1.7,14,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.044,0.145
$KALMAN_X,400.4,138.3,-5.0,-678.3,-26.9
$KALMAN_Y,-2242.4,-390.2,36.8,2678.5,-301.1
$MHEAD_RNG_PITCHd_Wd,358.7,216,-17.3,-6.061
$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,27,begin dive
$GC,30,-1.52,-63.6,0.0,0.0,0,177,0.00,0.00,-142.60,0.000,6,0.000,0.000,129,2375,3881
$GC,181,-1.59,-117.0,2.2,-2.6,24,200,15.23,0.00,-0.35,0.000,6,0.196,0.000,2536,2375,3895
$GC,268,-1.60,-122.2,8.8,-5.1,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3897
$GC,341,-1.60,-122.2,11.9,-4.3,48,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3897
$GC,413,-1.60,-122.2,15.2,-4.6,59,419,0.00,2.60,0.00,0.000,4,0.000,0.050,2536,970,3898
$GC,524,-1.60,-122.2,21.2,-6.0,74,531,0.00,2.53,0.00,0.000,6,0.000,0.040,2536,2380,3898
$GC,721,-1.60,-122.2,32.5,-5.8,90,725,0.00,2.58,0.00,0.000,4,0.000,0.049,2536,967,3899
$GC,862,-1.60,-122.2,41.4,-7.0,100,867,0.00,2.55,0.00,0.000,6,0.000,0.041,2536,2377,3899
$GC,1058,-1.60,-122.2,53.0,-5.4,115,1062,0.00,2.60,0.00,0.000,4,0.000,0.051,2537,969,3899
$GC,1223,-1.60,-122.2,62.5,-5.8,127,1228,0.00,2.55,0.00,0.000,6,0.000,0.042,2536,2376,3899
$GC,1546,-1.60,-122.2,81.3,-5.8,152,1550,0.00,2.60,0.00,0.000,4,0.000,0.053,2536,966,3899
$GC,1684,-1.60,-122.2,89.4,-6.1,162,1688,0.00,2.55,0.00,0.000,6,0.000,0.043,2536,2377,3898
$STATE,1872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1872,begin apogee
$GC,1878,-0.42,0.0,100.1,5.4,177,1958,1.30,0.00,73.78,0.662,6,0.097,0.000,2792,2377,3623
$STATE,1959,end apogee,CONTROL_FINISHED_OK
$STATE,1959,begin climb
$GC,1962,1.60,122.2,101.2,0.0,184,2116,2.00,2.75,143.38,0.634,4,0.054,0.075,3230,3771,3123
$GC,2184,1.60,122.2,82.6,12.8,201,2188,0.00,2.55,0.00,0.000,6,0.000,0.041,3230,2354,3125
$GC,2506,1.60,122.2,46.0,10.8,226,2510,0.00,2.70,0.00,0.000,4,0.000,0.071,3230,3767,3127
$GC,2565,1.60,122.2,39.2,11.8,230,2569,0.00,2.53,0.00,0.000,6,0.000,0.041,3230,2359,3127
$GC,2761,1.60,122.2,18.5,10.3,246,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2359,3127
$GC,2833,1.60,122.2,10.9,10.4,257,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2359,3127
$GC,2904,1.60,122.2,3.9,9.6,268,2911,0.00,2.70,0.00,0.000,4,0.000,0.070,3230,3771,3127
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,0.2,1.020149
$STATE,2944,end surface coast,CONTROL_FINISHED_OK
$STATE,2944,begin surface
$SM_CCo,2977,127.82,0.589,0,0,1989,400.08
$SM_GC,0.77,0.00,0.00,127.82,0.000,0.000,0.589,132,2366,1989,-12.66,-0.25,400.08
$IRIDIUM_FIX,4748.51,-12221.84,160907,090940
$TT8_MAMPS,0.067496
$HUMID,2160
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.70
$XPDR_PINGS,57
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.2,1.858
$10V_AH,10.0,0.985
$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,32.875,36.325,217.150,127.825,0.000,41.811,37.551,156.737,15.000,429.251,3455.749,14.342,501.974,1568.137,486.849,523.652,403.065,33.335,810.722,0.000,503.534,0.000,5.672
$DEVICE_MAMPS,195.585,75.166,661.921,589.056,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.576,0.000,0.000,0.000,0.000,0.000,0.000,3885.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,274
$CFSIZE,260034560,257339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,075039,4807.063,-12223.033,10,2.0,10,18.3