version: 66.02
glider: 117
mission: 2
dive: 2
start: 9 15 107 23 47 0
data:
$ID,117
$MISSION,2
$DIVE,2
$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,33
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,2
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,600
$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,-15734.501
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2873
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2110
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,234047,4806.392,-12222.774,10,4.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.4
$GPS2,234607,4806.371,-12222.772,16,1.0,32,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.068,0.253
$KALMAN_X,14.4,14.4,14.4,-34.9,29.4
$KALMAN_Y,-31.4,-31.4,-31.4,197.9,-64.3
$MHEAD_RNG_PITCHd_Wd,326.7,1198,-18.4,-10.101
$D_GRID,101
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-1.59,-146.6,0.0,0.0,0,123,0.00,0.00,-90.82,0.000,2,0.000,0.000,409,2115,2891
$GC,127,-1.59,-146.6,2.3,-5.1,15,177,12.50,2.67,-30.60,0.000,4,0.176,0.084,2516,706,3801
$GC,191,-1.59,-146.6,4.5,-7.3,25,197,0.00,2.45,0.00,0.000,6,0.000,0.038,2516,2100,3802
$GC,262,-1.59,-146.6,12.3,-10.8,36,269,0.00,2.53,0.00,0.000,4,0.000,0.055,2516,3516,3802
$GC,355,-1.59,-146.6,22.4,-11.2,49,360,0.00,2.42,0.00,0.000,6,0.000,0.038,2516,2109,3803
$GC,550,-1.59,-146.6,44.4,-11.4,64,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2109,3803
$GC,741,-1.59,-146.6,65.9,-11.6,79,745,0.00,2.60,0.00,0.000,4,0.000,0.057,2517,3513,3803
$GC,839,-1.59,-146.6,77.6,-11.8,86,843,0.00,2.42,0.00,0.000,6,0.000,0.040,2517,2111,3803
$STATE,1039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1039,begin apogee
$GC,1044,-0.38,0.0,100.3,11.0,102,1162,1.35,0.00,113.03,0.643,6,0.094,0.000,2787,1897,3202
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1165,1.59,146.6,104.4,0.0,112,1288,2.00,2.78,110.95,0.621,4,0.065,0.085,3219,502,2603
$GC,1333,1.63,172.4,96.0,8.9,125,1358,0.00,2.53,19.33,0.633,6,0.000,0.042,3219,1903,2499
$GC,1675,1.68,214.1,67.1,8.2,152,1710,0.00,0.00,31.23,0.627,6,0.000,0.000,3219,1905,2329
$GC,2025,1.71,239.2,35.4,8.9,180,2050,0.12,0.00,18.98,0.635,6,0.061,0.000,3249,1906,2225
$GC,2241,1.71,243.1,13.6,9.9,201,2249,0.00,2.80,2.33,0.728,4,0.000,0.084,3249,502,2210
$GC,2301,1.71,243.1,7.0,11.3,210,2307,0.00,2.47,0.00,0.000,6,0.000,0.042,3249,1902,2209
$STATE,2364,end climb,SURFACE_DEPTH_REACHED
$STATE,2364,begin surface coast
$FINISH,0.2,0.999998
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2392,begin surface
$SM_CCo,2417,177.23,0.566,0,0,755,600.00
$SM_GC,0.86,0.00,0.00,177.23,0.000,0.000,0.566,411,2132,755,-11.33,0.62,600.00
$IRIDIUM_FIX,4748.51,-12224.57,160907,030345
$TT8_MAMPS,0.071331
$HUMID,2093
$INTERNAL_PRESSURE,6.97292
$TCM_TEMP,20.20
$XPDR_PINGS,186
$ALTIM_TOP_PING,9.3,8.4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,23.4,10.991
$10V_AH,10.1,7.194
$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,28.900,26.400,295.825,177.225,0.000,0.000,0.000,0.000,47.000,44.550,2533.450,32.550,397.308,1251.027,574.355,409.198,55.957,30.181,831.365,0.000,381.211,0.000,4.105
$DEVICE_MAMPS,176.410,85.137,727.883,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.006,0.000,0.000,0.000,0.000,0.000,0.000,2578.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6416,224
$CFSIZE,260231168,258322432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,003102,4806.678,-12222.806,8,1.2,13,18.3