version: 66.02
glider: 116
mission: 2
dive: 1
start: 9 15 107 21 42 7
data:
$ID,116
$MISSION,2
$DIVE,1
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23808.67
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,2025
$C_ROLL_CLIMB,2385
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3939
$C_VBD,3628
$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
$GPS1,212821,4806.889,-12222.994,13,1.3,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-59.0
$GPS2,214112,4806.860,-12222.979,11,2.1,30,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.023,0.238
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,336.1,260,-19.3,-10.000
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.63,-122.2,0.0,0.0,0,154,0.00,0.00,-120.50,0.000,2,0.000,0.000,127,2033,3705
$GC,157,-1.63,-122.2,2.0,-4.2,20,189,15.90,2.60,-7.40,0.000,4,0.192,0.081,2687,3420,3941
$GC,202,-1.63,-122.2,3.6,-2.3,27,209,0.00,2.42,0.00,0.000,6,0.000,0.038,2687,2029,3941
$GC,275,-1.63,-122.2,5.6,-2.6,38,281,0.00,2.55,0.00,0.000,4,0.000,0.058,2687,628,3942
$GC,528,-1.63,-122.2,10.8,-3.0,76,534,0.00,2.42,0.00,0.000,6,0.000,0.038,2687,2018,3942
$GC,601,-1.63,-122.2,12.4,-2.2,87,607,0.00,2.60,0.00,0.000,4,0.000,0.068,2687,3424,3942
$GC,689,-1.63,-122.2,14.7,-3.4,100,695,0.00,2.45,0.00,0.000,6,0.000,0.039,2686,2016,3943
$GC,762,-1.63,-122.2,17.1,-4.0,111,768,0.00,2.53,0.00,0.000,4,0.000,0.059,2688,632,3942
$GC,835,-1.63,-122.2,19.8,-3.9,122,841,0.00,2.45,0.00,0.000,6,0.000,0.039,2687,2029,3943
$GC,904,-1.63,-122.2,22.2,-3.4,128,908,0.00,2.60,0.00,0.000,4,0.000,0.069,2687,3425,3942
$STATE,915,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,915,begin apogee
$GC,923,-0.38,0.0,22.7,3.5,129,1014,1.33,0.00,84.47,0.607,6,0.070,0.000,2963,2380,3629
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1018,1.63,122.2,23.7,0.0,137,1154,1.90,2.55,127.93,0.580,4,0.031,0.054,3409,988,3129
$STATE,1205,end climb,SURFACE_DEPTH_REACHED
$STATE,1207,begin surface coast
$FINISH,0.2,1.019763
$STATE,1220,end surface coast,CONTROL_FINISHED_OK
$STATE,1220,begin surface
$SM_CCo,1250,209.00,0.547,0,0,1181,600.00
$SM_GC,0.88,0.00,0.00,209.00,0.000,0.000,0.547,128,2029,1181,-13.44,0.11,600.00
$IRIDIUM_FIX,4751.72,-12221.84,160907,010102
$TT8_MAMPS,0.067496
$HUMID,1893
$INTERNAL_PRESSURE,10.9965
$TCM_TEMP,21.00
$XPDR_PINGS,15
$ALTIM_TOP_PING,8.5,999.0
$24V_AH,23.9,0.275
$10V_AH,10.0,0.225
$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,34.225,28.900,212.400,209.000,0.000,78.443,73.253,380.972,4.000,38.020,2101.980,31.709,284.642,431.542,541.944,305.990,692.835,29.235,747.202,0.000,264.804,0.000,2.559
$DEVICE_MAMPS,191.750,81.302,607.464,546.871,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.733,0.000,0.000,0.000,0.000,0.000,0.000,2140.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3298,163
$CFSIZE,260034560,257708032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,220735,4806.883,-12222.955,12,2.2,31,18.3