version: 66.02
glider: 117
mission: 2
dive: 7
start: 9 16 107 3 59 34
data:
$ID,117
$MISSION,2
$DIVE,7
$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,-15828.405
$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,20
$R_STBD_OVSHOOT,38
$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
$GPS1,034335,4806.996,-12223.084,15,2.2,34,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.9
$GPS2,035838,4806.926,-12223.014,10,1.9,10,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.003,0.175
$KALMAN_X,274.9,131.5,47.4,-744.4,21.5
$KALMAN_Y,-229.0,-123.2,-38.9,1519.2,-36.6
$MHEAD_RNG_PITCHd_Wd,340.9,138,-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,-61.25,0.000,2,0.000,0.000,412,2124,2656
$GC,96,-2.29,-123.0,2.0,-3.9,10,157,12.10,2.72,-39.03,0.000,4,0.193,0.076,2366,706,3706
$GC,183,-2.29,-123.0,7.9,-15.7,24,190,0.00,2.47,0.00,0.000,6,0.000,0.035,2366,2109,3707
$GC,255,-2.29,-123.0,19.4,-16.0,35,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2109,3708
$GC,324,-2.29,-123.0,30.5,-16.3,41,328,0.00,2.55,0.00,0.000,4,0.000,0.054,2366,3516,3708
$GC,362,-2.29,-123.0,36.9,-16.5,43,369,0.00,2.55,0.00,0.000,6,0.000,0.035,2367,2101,3709
$GC,558,-2.29,-123.0,69.2,-16.5,59,562,0.00,2.62,0.00,0.000,4,0.000,0.053,2366,3515,3710
$GC,693,-2.29,-123.0,91.9,-17.1,69,697,0.00,2.47,0.00,0.000,6,0.000,0.036,2366,2103,3709
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,752,-0.38,0.0,101.8,17.1,73,858,2.22,0.00,97.78,0.647,6,0.117,0.000,2787,1903,3202
$STATE,859,end apogee,CONTROL_FINISHED_OK
$STATE,859,begin climb
$GC,861,2.29,123.0,106.9,0.0,82,965,2.70,2.83,94.40,0.630,4,0.063,0.074,3376,501,2699
$GC,997,2.29,123.0,100.0,10.3,92,1005,0.00,2.53,0.00,0.000,6,0.000,0.036,3377,1902,2698
$GC,1320,2.29,123.0,65.9,10.2,118,1325,0.00,2.65,0.00,0.000,4,0.000,0.053,3376,3299,2697
$GC,1385,2.29,123.6,59.2,10.0,122,1392,0.00,2.50,0.00,0.000,6,0.000,0.038,3376,1906,2697
$GC,1708,2.30,128.4,28.8,9.6,148,1720,0.00,2.75,3.55,0.719,4,0.000,0.074,3376,503,2678
$GC,1765,2.30,128.4,22.7,10.7,152,1772,0.00,2.53,0.00,0.000,6,0.000,0.036,3376,1901,2677
$GC,1971,2.33,152.7,5.1,7.5,181,1995,0.00,0.00,18.52,0.637,6,0.000,0.000,3376,1901,2578
$STATE,2032,end climb,SURFACE_DEPTH_REACHED
$STATE,2032,begin surface coast
$FINISH,0.6,1.019618
$STATE,2073,end surface coast,CONTROL_FINISHED_OK
$STATE,2073,begin surface
$SM_CCo,2100,159.00,0.573,0,0,1162,500.17
$SM_GC,0.93,0.00,0.00,159.00,0.000,0.000,0.573,414,2127,1162,-11.32,0.48,500.17
$IRIDIUM_FIX,4748.51,-12221.84,160907,070705
$TT8_MAMPS,0.071331
$HUMID,2187
$INTERNAL_PRESSURE,6.97292
$TCM_TEMP,20.10
$XPDR_PINGS,132
$ALTIM_TOP_PING,9.7,9.1
$ALTIM_BOTTOM_PING,75.9,999.0
$24V_AH,23.1,11.566
$10V_AH,10.1,7.511
$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,31.225,31.875,214.250,159.000,0.000,143.228,109.169,359.669,33.500,182.620,3096.380,10.027,373.610,1230.657,489.586,373.599,715.387,33.319,733.099,0.000,357.855,0.000,4.102
$DEVICE_MAMPS,192.517,75.933,719.446,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.417,0.000,0.000,0.000,0.000,0.000,0.000,3279.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6476,197
$CFSIZE,260231168,258187264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,043803,4807.083,-12222.915,15,1.6,15,18.3