version: 66.02
glider: 116
mission: 2
dive: 17
start: 9 16 107 11 57 56
data:
$ID,116
$MISSION,2
$DIVE,17
$D_SURF,4
$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,-24280.125
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,114653,4806.803,-12222.922,12,3.1,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-59.6
$GPS2,115659,4806.728,-12222.829,13,2.7,32,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.133,0.150
$KALMAN_X,1015.3,-75.0,-95.2,-662.8,236.8
$KALMAN_Y,-2952.8,7.1,102.2,2605.7,-16.6
$MHEAD_RNG_PITCHd_Wd,300.3,547,-11.4,-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,26,begin dive
$GC,29,-1.10,-122.2,0.0,0.0,0,155,0.00,0.00,-122.75,0.000,2,0.000,0.000,130,2363,3400
$GC,159,-1.10,-122.2,2.0,-2.9,20,196,15.65,2.53,-14.82,0.000,4,0.192,0.060,2640,970,3895
$GC,243,-1.10,-122.2,5.4,-3.9,33,249,0.00,2.50,0.00,0.000,6,0.000,0.038,2640,2377,3896
$GC,316,-1.10,-122.2,8.0,-3.3,44,322,0.00,2.67,0.00,0.000,4,0.000,0.072,2640,3783,3897
$GC,430,-1.10,-122.2,12.0,-4.0,61,436,0.00,2.50,0.00,0.000,6,0.000,0.037,2640,2362,3898
$GC,503,-1.10,-122.2,14.7,-3.6,72,509,0.00,2.53,0.00,0.000,4,0.000,0.050,2640,971,3898
$GC,582,-1.10,-122.2,17.8,-3.8,84,589,0.00,2.53,0.00,0.000,6,0.000,0.040,2640,2374,3898
$GC,661,-1.10,-122.2,20.7,-3.9,95,666,0.00,2.70,0.00,0.000,4,0.000,0.075,2640,3782,3898
$GC,696,-1.10,-122.2,22.1,-4.6,97,701,0.00,2.58,0.00,0.000,6,0.000,0.037,2640,2372,3900
$GC,892,-1.10,-122.2,30.3,-4.2,112,896,0.00,2.58,0.00,0.000,4,0.000,0.051,2640,966,3898
$GC,1004,-1.10,-122.2,35.2,-4.9,120,1008,0.00,2.55,0.00,0.000,6,0.000,0.041,2640,2383,3898
$GC,1200,-1.10,-122.2,43.6,-4.3,135,1204,0.00,2.58,0.00,0.000,4,0.000,0.051,2640,974,3898
$GC,1328,-1.10,-122.2,48.8,-4.1,144,1332,0.00,2.53,0.00,0.000,6,0.000,0.042,2640,2378,3898
$GC,1523,-1.10,-122.2,56.8,-4.1,159,1527,0.00,2.58,0.00,0.000,4,0.000,0.051,2640,975,3898
$GC,1595,-1.10,-122.2,59.9,-4.2,164,1602,0.00,2.53,0.00,0.000,6,0.000,0.042,2640,2374,3898
$GC,1917,-1.10,-122.2,72.2,-3.5,190,1922,0.00,2.58,0.00,0.000,4,0.000,0.052,2640,975,3898
$GC,2018,-1.10,-122.2,75.9,-4.0,197,2022,0.00,2.58,0.00,0.000,6,0.000,0.042,2640,2374,3897
$GC,2340,-1.10,-122.2,87.6,-3.6,222,2345,0.00,2.60,0.00,0.000,4,0.000,0.053,2640,967,3897
$GC,2598,-1.10,-122.2,97.2,-3.6,241,2603,0.00,2.55,0.00,0.000,6,0.000,0.043,2640,2375,3896
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2699,-0.42,0.0,100.4,3.3,248,2778,0.73,0.00,74.50,0.674,6,0.084,0.000,2789,2376,3622
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2782,1.10,122.2,101.5,0.0,255,2937,1.52,2.72,142.35,0.640,4,0.057,0.077,3122,3761,3123
$GC,2956,1.10,122.2,92.4,8.2,269,2963,0.00,2.53,0.00,0.000,6,0.000,0.040,3122,2366,3124
$GC,3278,1.10,122.2,65.8,8.1,295,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2366,3127
$GC,3594,1.10,122.2,42.9,7.0,320,3598,0.00,2.67,0.00,0.000,4,0.000,0.072,3122,3770,3128
$GC,3653,1.10,122.2,38.6,7.6,324,3657,0.00,2.55,0.00,0.000,6,0.000,0.039,3122,2360,3127
$GC,3848,1.10,122.2,25.5,6.8,339,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2360,3127
$GC,4042,1.10,122.6,12.7,6.0,362,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2360,3126
$GC,4115,1.14,149.0,8.9,5.2,373,4146,0.00,2.72,23.62,0.647,4,0.000,0.071,3122,3764,3013
$STATE,4200,end climb,SURFACE_DEPTH_REACHED
$STATE,4200,begin surface coast
$FINISH,2.3,1.020062
$STATE,4271,end surface coast,CONTROL_FINISHED_OK
$STATE,4271,begin surface
$SM_CCo,4304,116.18,0.597,0,0,1990,400.08
$SM_GC,0.72,0.00,0.00,116.18,0.000,0.000,0.597,130,2372,1990,-12.67,-0.11,400.08
$IRIDIUM_FIX,4748.51,-12221.84,160907,151501
$TT8_MAMPS,0.066729
$HUMID,2159
$INTERNAL_PRESSURE,10.9477
$TCM_TEMP,19.60
$XPDR_PINGS,137
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.2,2.935
$10V_AH,10.0,1.390
$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,32.125,61.875,240.475,116.175,0.000,77.007,69.074,247.822,35.000,623.718,4875.282,33.190,718.565,2468.702,518.377,733.261,603.685,33.336,932.126,0.000,691.613,0.000,5.671
$DEVICE_MAMPS,191.750,77.467,674.193,596.726,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,263.560,0.000,0.000,0.000,0.000,0.000,0.000,5499.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,12733,397
$CFSIZE,260034560,257134592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,131238,4806.965,-12223.175,24,1.7,25,18.3