version: 66.02
glider: 116
mission: 2
dive: 24
start: 9 16 107 19 14 26
data:
$ID,116
$MISSION,2
$DIVE,24
$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,-24427.488
$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,28
$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
$GPS1,190707,4807.111,-12223.048,13,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-68.6
$GPS2,191327,4807.121,-12223.046,15,1.9,15,18.3
$SPEED_LIMITS,0.105,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.001,-0.105
$KALMAN_X,1144.7,-69.2,-26.6,-1129.5,56.2
$KALMAN_Y,-3610.2,299.0,-50.1,3843.2,-90.8
$MHEAD_RNG_PITCHd_Wd,162.2,231,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.24,-29.9,0.0,0.0,0,91,0.00,0.00,-60.53,0.000,2,0.000,0.000,127,2349,3431
$GC,95,-2.26,-46.0,2.4,-3.9,10,127,14.62,2.58,-11.62,0.000,4,0.206,0.063,2387,966,3809
$GC,147,-2.28,-65.4,4.8,-3.4,18,154,0.00,2.53,-2.05,0.000,6,0.000,0.040,2387,2377,3889
$GC,221,-2.28,-65.4,10.5,-7.9,29,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2377,3890
$GC,293,-2.28,-65.4,17.1,-9.4,40,299,0.00,2.58,0.00,0.000,4,0.000,0.049,2387,973,3890
$GC,443,-2.28,-65.4,31.4,-9.4,54,450,0.00,2.55,0.00,0.000,6,0.000,0.041,2387,2374,3891
$GC,640,-2.28,-65.4,48.8,-8.3,70,644,0.00,2.55,0.00,0.000,4,0.000,0.051,2387,973,3891
$GC,843,-2.28,-65.4,68.0,-9.2,85,850,0.00,2.55,0.00,0.000,6,0.000,0.041,2387,2374,3891
$GC,1166,-2.28,-65.4,97.1,-8.6,111,1170,0.00,2.62,0.00,0.000,4,0.000,0.051,2387,966,3891
$STATE,1197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1197,begin apogee
$GC,1206,-0.42,0.0,100.2,9.3,113,1288,2.08,0.00,77.60,0.660,6,0.115,0.000,2788,2370,3620
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1292,2.28,65.4,102.4,0.0,120,1378,2.70,2.67,76.65,0.639,4,0.053,0.071,3389,3764,3353
$GC,1630,2.28,65.4,65.0,12.9,146,1634,0.00,2.50,0.00,0.000,6,0.000,0.041,3389,2363,3354
$GC,1952,2.28,65.4,28.0,10.4,171,1956,0.00,2.65,0.00,0.000,4,0.000,0.067,3389,3764,3354
$GC,2156,2.28,65.4,7.3,9.6,196,2162,0.00,2.50,0.00,0.000,6,0.000,0.041,3389,2362,3353
$STATE,2199,end climb,SURFACE_DEPTH_REACHED
$STATE,2199,begin surface coast
$FINISH,2.1,1.021061
$STATE,2253,end surface coast,CONTROL_FINISHED_OK
$STATE,2254,begin surface
$SM_CCo,2285,158.38,0.588,0,0,1989,400.08
$SM_GC,0.65,0.00,0.00,158.38,0.000,0.000,0.588,132,2357,1989,-12.66,-0.51,400.08
$IRIDIUM_FIX,4751.72,-12221.84,160907,222217
$TT8_MAMPS,0.069797
$HUMID,2101
$INTERNAL_PRESSURE,10.9282
$TCM_TEMP,19.70
$XPDR_PINGS,96
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.2,4.160
$10V_AH,10.0,1.899
$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,35.400,30.850,154.250,158.375,0.000,39.084,42.234,172.175,24.750,328.970,2625.030,15.443,413.978,1194.761,406.029,430.281,395.943,33.324,656.716,0.000,411.123,0.000,5.672
$DEVICE_MAMPS,205.556,70.564,659.620,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.717,0.000,0.000,0.000,0.000,0.000,0.000,2954.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6418,211
$CFSIZE,260034560,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,195617,4806.953,-12222.863,11,2.1,30,18.3