version: 66.02
glider: 117
mission: 2
dive: 6
start: 9 16 107 3 6 7
data:
$ID,117
$MISSION,2
$DIVE,6
$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,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,-15817.75
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,025905,4807.112,-12222.905,10,3.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.2
$GPS2,030509,4807.088,-12222.893,13,2.0,13,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.130,-0.118
$KALMAN_X,193.7,107.7,59.5,-501.7,10.3
$KALMAN_Y,-175.8,-108.0,-42.0,1756.5,-37.8
$MHEAD_RNG_PITCHd_Wd,209.5,211,-27.9,-10.101
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-2.22,-64.1,0.0,0.0,0,93,0.00,0.00,-61.15,0.000,2,0.000,0.000,411,2118,2634
$GC,96,-2.29,-120.1,2.0,-4.2,10,152,12.12,2.50,-36.38,0.000,4,0.195,0.067,2365,3501,3693
$GC,401,-2.29,-120.1,45.7,-17.2,45,409,0.00,2.55,0.00,0.000,6,0.000,0.035,2364,2112,3695
$GC,598,-2.29,-120.1,78.2,-16.7,61,602,0.00,2.53,0.00,0.000,4,0.000,0.054,2365,3502,3696
$STATE,729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,729,begin apogee
$GC,736,-0.38,0.0,100.4,16.8,71,839,2.20,0.00,94.57,0.650,6,0.120,0.000,2785,1904,3202
$STATE,840,end apogee,CONTROL_FINISHED_OK
$STATE,840,begin climb
$GC,842,2.29,120.1,105.8,0.0,80,943,2.83,2.78,92.20,0.634,4,0.063,0.076,3374,496,2711
$GC,1062,2.29,120.1,89.7,11.1,97,1069,0.00,2.53,0.00,0.000,6,0.000,0.037,3374,1893,2709
$GC,1385,2.29,123.9,58.2,9.7,123,1392,0.00,2.62,2.38,0.752,4,0.000,0.054,3374,3298,2696
$GC,1542,2.30,126.0,42.2,9.9,134,1550,0.00,2.53,0.00,0.000,6,0.000,0.038,3374,1896,2696
$GC,1739,2.31,140.2,24.5,8.6,150,1757,0.00,2.58,12.52,0.659,4,0.000,0.050,3374,3299,2629
$GC,1889,2.31,140.2,9.1,10.8,168,1896,0.00,2.50,0.00,0.000,6,0.000,0.040,3374,1900,2628
$GC,1962,2.35,170.1,3.2,6.9,179,1987,0.00,2.72,18.67,0.635,4,0.000,0.075,3374,496,2507
$STATE,1991,end climb,SURFACE_DEPTH_REACHED
$STATE,1991,begin surface coast
$FINISH,1.8,1.020406
$STATE,1999,end surface coast,CONTROL_FINISHED_OK
$STATE,1999,begin surface
$SM_CCo,2029,149.25,0.574,0,0,1163,500.17
$SM_GC,0.96,0.00,0.00,149.25,0.000,0.000,0.574,412,2124,1163,-11.32,0.40,500.17
$IRIDIUM_FIX,4751.72,-12226.29,160907,060615
$TT8_MAMPS,0.071331
$HUMID,2176
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,113
$ALTIM_TOP_PING,9.7,9.2
$ALTIM_BOTTOM_PING,76.2,999.0
$24V_AH,23.2,11.410
$10V_AH,10.1,7.439
$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,31.475,31.625,220.350,149.250,0.000,55.918,49.378,104.746,28.750,195.083,2466.917,13.205,357.072,1059.703,469.478,388.763,289.602,33.317,709.047,0.000,368.547,0.000,4.101
$DEVICE_MAMPS,194.818,75.933,751.660,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.482,0.000,0.000,0.000,0.000,0.000,0.000,2662.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,185
$CFSIZE,260231168,258228224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,034335,4806.996,-12223.084,15,2.2,34,18.3