version: 66.02
glider: 116
mission: 2
dive: 28
start: 9 16 107 22 2 48
data:
$ID,116
$MISSION,2
$DIVE,28
$D_SURF,4
$D_FLARE,2
$D_TGT,50
$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,28
$T_MISSION,65
$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,-24522.104
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,215537,4806.966,-12223.073,11,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-61.2
$GPS2,220150,4806.991,-12223.074,16,1.4,33,18.3
$SPEED_LIMITS,0.103,0.199
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.060,0.084
$KALMAN_X,1527.8,5.2,-54.3,-1595.0,35.0
$KALMAN_Y,-3752.9,175.2,36.0,3784.8,-63.3
$MHEAD_RNG_PITCHd_Wd,17.0,93,-26.4,-5.952
$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,30,-2.24,-29.1,0.0,0.0,0,160,0.00,0.00,-127.57,0.000,2,0.000,0.000,129,2369,3555
$GC,164,-2.26,-45.8,2.2,-3.7,21,195,14.38,2.67,-7.95,0.000,4,0.203,0.079,2389,3775,3809
$GC,446,-2.26,-45.8,19.5,-6.0,64,453,0.00,2.45,0.00,0.000,6,0.000,0.035,2389,2369,3812
$GC,522,-2.26,-45.8,24.0,-6.0,71,527,0.00,2.67,0.00,0.000,4,0.000,0.068,2388,3784,3813
$GC,621,-2.26,-45.8,31.2,-7.7,78,625,0.00,2.47,0.00,0.000,6,0.000,0.035,2389,2368,3813
$GC,817,-2.26,-45.8,45.7,-7.8,93,821,0.00,2.53,0.00,0.000,4,0.000,0.052,2389,974,3813
$STATE,873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,873,begin apogee
$GC,882,-0.42,0.0,50.4,7.8,97,937,2.08,0.00,50.65,0.615,6,0.117,0.000,2791,2365,3621
$STATE,938,end apogee,CONTROL_FINISHED_OK
$STATE,938,begin climb
$GC,941,2.26,45.8,52.0,0.0,102,1003,2.62,2.75,52.85,0.601,4,0.052,0.071,3377,3771,3435
$GC,1075,2.26,45.8,42.3,9.8,112,1082,0.00,2.58,0.00,0.000,6,0.000,0.038,3377,2365,3438
$GC,1272,2.26,45.8,25.0,8.5,128,1276,0.00,2.62,0.00,0.000,4,0.000,0.066,3377,3767,3439
$GC,1396,2.26,45.8,14.2,8.6,142,1402,0.00,2.50,0.00,0.000,6,0.000,0.038,3377,2353,3440
$GC,1469,2.26,45.8,8.8,7.3,153,1475,0.00,2.65,0.00,0.000,4,0.000,0.064,3377,3770,3439
$GC,1727,2.32,95.5,5.6,-0.9,192,1776,0.00,2.50,42.33,0.607,6,0.000,0.039,3377,2349,3231
$STATE,1795,end climb,SURFACE_DEPTH_REACHED
$STATE,1796,begin surface coast
$FINISH,1.8,1.020371
$STATE,1902,end surface coast,CONTROL_FINISHED_OK
$STATE,1902,begin surface
$SM_CCo,1932,133.10,0.571,0,0,1990,400.08
$SM_GC,0.74,0.00,0.00,133.10,0.000,0.000,0.571,128,2346,1990,-12.68,-0.82,400.08
$IRIDIUM_FIX,4748.51,-12219.12,170907,010148
$TT8_MAMPS,0.068263
$HUMID,2087
$INTERNAL_PRESSURE,10.977
$TCM_TEMP,19.80
$XPDR_PINGS,21
$ALTIM_TOP_PING,9.7,999.0
$24V_AH,23.2,4.643
$10V_AH,10.0,2.116
$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,34.825,30.975,145.825,133.100,0.000,40.074,32.334,157.668,5.500,83.020,2808.980,33.212,395.641,860.481,414.958,412.813,373.077,33.334,661.943,0.000,378.551,0.000,2.550
$DEVICE_MAMPS,203.255,79.001,615.134,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.637,0.000,0.000,0.000,0.000,0.000,0.000,2892.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,219
$CFSIZE,260034560,256806912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,223803,4807.077,-12223.032,13,1.1,13,18.3