version: 66.02
glider: 116
mission: 2
dive: 23
start: 9 16 107 18 16 15
data:
$ID,116
$MISSION,2
$DIVE,23
$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,-24411.416
$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,26
$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
$GPS1,180915,4806.966,-12223.116,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.1
$GPS2,181515,4806.982,-12223.134,16,1.5,16,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.037,0.098
$KALMAN_X,1204.5,-113.6,-33.7,-1247.9,125.3
$KALMAN_Y,-3533.6,313.2,-69.9,3518.3,-76.9
$MHEAD_RNG_PITCHd_Wd,2.1,169,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-2.24,-29.9,0.0,0.0,0,96,0.00,0.00,-66.57,0.000,2,0.000,0.000,130,2347,3587
$GC,100,-2.26,-47.3,2.2,-3.7,11,131,14.75,2.78,-6.78,0.000,4,0.206,0.081,2386,3773,3815
$GC,382,-2.26,-47.3,22.5,-7.8,52,389,0.00,2.50,0.00,0.000,6,0.000,0.038,2385,2373,3818
$GC,578,-2.26,-47.3,37.0,-7.4,68,583,0.00,2.67,0.00,0.000,4,0.000,0.071,2386,3777,3818
$GC,624,-2.26,-47.3,40.6,-8.3,71,628,0.00,2.53,0.00,0.000,6,0.000,0.037,2385,2375,3818
$GC,819,-2.26,-47.3,57.0,-8.5,86,824,0.00,2.65,0.00,0.000,4,0.000,0.054,2386,975,3818
$GC,931,-2.26,-47.3,66.8,-8.2,94,936,0.00,2.53,0.00,0.000,6,0.000,0.042,2386,2379,3818
$GC,1253,-2.26,-47.3,92.4,-7.5,119,1257,0.00,2.58,0.00,0.000,4,0.000,0.053,2386,975,3818
$STATE,1355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1356,begin apogee
$GC,1366,-0.42,0.0,100.4,7.7,126,1427,2.08,0.00,55.95,0.665,6,0.116,0.000,2789,2362,3622
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1431,2.26,47.3,101.8,0.0,131,1492,2.67,0.00,55.75,0.647,6,0.054,0.000,3381,2362,3428
$GC,1804,2.26,47.3,68.8,9.3,161,1808,0.00,2.67,0.00,0.000,4,0.000,0.071,3381,3763,3429
$GC,2001,2.26,47.3,50.2,9.1,175,2008,0.00,2.50,0.00,0.000,6,0.000,0.039,3381,2364,3429
$GC,2323,2.26,47.3,22.9,7.9,201,2328,0.00,2.67,0.00,0.000,4,0.000,0.067,3381,3767,3429
$GC,2581,2.28,60.2,5.0,4.3,237,2600,0.00,2.53,10.80,0.669,6,0.000,0.040,3381,2352,3374
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,3.3,1.021598
$STATE,2790,end surface coast,CONTROL_FINISHED_OK
$STATE,2790,begin surface
$SM_CCo,2822,164.32,0.594,0,0,1990,400.08
$SM_GC,0.84,0.00,0.00,164.32,0.000,0.000,0.594,127,2349,1990,-12.69,-0.74,400.08
$IRIDIUM_FIX,4751.72,-12221.84,160907,212114
$TT8_MAMPS,0.067496
$HUMID,2119
$INTERNAL_PRESSURE,10.9379
$TCM_TEMP,19.60
$XPDR_PINGS,160
$ALTIM_TOP_PING,10.0,999.0
$24V_AH,23.2,3.992
$10V_AH,10.0,1.836
$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,35.500,31.150,122.500,164.325,0.000,38.341,37.403,164.154,40.750,429.845,3027.155,16.352,506.899,1587.785,387.246,493.648,390.291,33.331,657.215,0.000,473.592,0.000,5.670
$DEVICE_MAMPS,205.556,81.302,668.824,593.658,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.658,0.000,0.000,0.000,0.000,0.000,0.000,3457.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,269
$CFSIZE,260034560,256950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,190707,4807.111,-12223.048,13,1.4,29,18.3