version: 66.02
glider: 116
mission: 2
dive: 22
start: 9 16 107 17 21 13
data:
$ID,116
$MISSION,2
$DIVE,22
$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,-24394.438
$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,29
$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
$GPS1,171405,4806.947,-12222.909,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-67.3
$GPS2,172015,4806.943,-12222.909,14,1.2,14,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.094,0.047
$KALMAN_X,1139.6,-126.8,7.4,-937.2,72.0
$KALMAN_Y,-3384.0,286.3,-113.5,3365.9,12.9
$MHEAD_RNG_PITCHd_Wd,278.5,154,-26.4,-6.061
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-2.24,-29.9,0.0,0.0,0,92,0.00,0.00,-60.72,0.000,2,0.000,0.000,134,2360,3397
$GC,96,-2.26,-49.7,2.1,-3.4,10,133,14.30,2.70,-15.57,0.000,4,0.202,0.082,2385,3778,3825
$GC,385,-2.26,-49.7,21.3,-7.9,53,389,0.00,2.47,0.00,0.000,6,0.000,0.038,2385,2362,3827
$GC,580,-2.26,-49.7,35.7,-7.3,68,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2362,3826
$GC,772,-2.26,-49.7,50.5,-7.8,83,776,0.00,2.50,0.00,0.000,4,0.000,0.054,2386,978,3827
$GC,1029,-2.26,-49.7,72.4,-8.9,102,1033,0.00,2.50,0.00,0.000,6,0.000,0.041,2385,2380,3826
$GC,1350,-2.26,-49.7,97.7,-8.0,127,1355,0.00,2.55,0.00,0.000,4,0.000,0.052,2385,973,3827
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1390,-0.42,0.0,100.3,7.9,129,1456,2.05,0.00,57.47,0.667,6,0.116,0.000,2789,2362,3622
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1460,2.26,49.7,101.8,0.0,135,1527,2.65,2.67,58.00,0.647,4,0.053,0.072,3384,3764,3418
$GC,1779,2.26,49.7,70.9,10.5,159,1783,0.00,2.47,0.00,0.000,6,0.000,0.040,3383,2366,3420
$GC,2100,2.26,49.7,41.1,8.8,184,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2366,3420
$GC,2292,2.26,49.7,24.9,8.0,199,2297,0.00,2.62,0.00,0.000,4,0.000,0.069,3384,3764,3420
$GC,2457,2.26,49.7,11.0,8.1,219,2464,0.00,2.50,0.00,0.000,6,0.000,0.040,3386,2350,3420
$GC,2530,2.26,49.7,5.9,7.1,230,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2350,3419
$STATE,2560,end climb,SURFACE_DEPTH_REACHED
$STATE,2560,begin surface coast
$FINISH,3.3,1.021352
$STATE,2634,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2663,169.95,0.594,0,0,1989,400.08
$SM_GC,0.74,0.00,0.00,169.95,0.000,0.000,0.594,130,2346,1989,-12.67,-0.82,400.08
$IRIDIUM_FIX,4748.51,-12221.84,160907,202037
$TT8_MAMPS,0.066729
$HUMID,2080
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.50
$XPDR_PINGS,146
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.8,3.798
$10V_AH,10.0,1.765
$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,34.800,25.525,115.475,169.950,0.000,39.344,34.217,167.934,37.250,0.000,3344.000,14.444,476.022,1497.435,381.876,474.090,390.714,33.330,646.341,0.000,456.792,0.000,5.670
$DEVICE_MAMPS,202.488,82.069,666.523,594.425,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.195,0.000,0.000,0.000,0.000,0.000,0.000,3344.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,246
$CFSIZE,260034560,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,180915,4806.966,-12223.116,12,1.5,12,18.3