version: 66.02
glider: 117
mission: 2
dive: 3
start: 9 16 107 0 39 22
data:
$ID,117
$MISSION,2
$DIVE,3
$D_SURF,2
$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,33
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,2
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,500
$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,-15749.254
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2873
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2110
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,003102,4806.678,-12222.806,8,1.2,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.5
$GPS2,003827,4806.637,-12222.776,14,1.4,14,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.111,0.237
$KALMAN_X,71.8,45.9,43.0,-158.3,42.8
$KALMAN_Y,-40.4,-36.5,-35.6,703.6,-32.3
$MHEAD_RNG_PITCHd_Wd,316.5,727,-18.4,-10.101
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.59,-146.6,0.0,0.0,0,131,0.00,0.00,-97.05,0.000,2,0.000,0.000,411,2133,3017
$GC,134,-1.59,-146.6,2.1,-3.3,16,178,12.80,2.47,-23.70,0.000,4,0.186,0.070,2516,3498,3801
$GC,223,-1.59,-146.6,10.1,-11.8,30,230,0.00,2.42,0.00,0.000,6,0.000,0.040,2515,2110,3802
$GC,295,-1.59,-146.6,18.6,-12.4,41,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2109,3803
$GC,364,-1.59,-146.6,26.6,-11.6,48,368,0.00,2.50,0.00,0.000,4,0.000,0.056,2516,3494,3803
$GC,417,-1.59,-146.6,32.9,-11.7,52,421,0.00,2.42,0.00,0.000,6,0.000,0.038,2516,2102,3804
$GC,619,-1.59,-146.6,56.0,-11.1,68,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2101,3805
$GC,934,-1.59,-146.6,92.8,-11.6,93,938,0.00,2.53,0.00,0.000,4,0.000,0.058,2516,3499,3805
$STATE,998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1006,-0.38,0.0,100.7,12.0,98,1124,1.33,0.00,113.50,0.651,6,0.099,0.000,2781,1903,3202
$STATE,1125,end apogee,CONTROL_FINISHED_OK
$STATE,1125,begin climb
$GC,1128,1.59,146.6,105.6,0.0,108,1251,2.05,2.80,111.12,0.633,4,0.068,0.084,3222,498,2604
$GC,1277,1.66,203.4,99.8,7.5,120,1326,0.00,2.50,42.85,0.632,6,0.000,0.041,3222,1896,2372
$GC,1642,1.69,224.5,65.3,9.1,149,1666,0.00,2.80,15.65,0.650,4,0.000,0.081,3222,498,2286
$GC,1684,1.69,224.5,60.9,10.3,152,1692,0.00,2.53,0.00,0.000,6,0.000,0.041,3222,1897,2285
$GC,2007,1.72,249.5,30.4,8.9,178,2033,0.12,2.78,18.85,0.643,4,0.060,0.082,3254,492,2183
$GC,2064,1.72,249.5,23.9,11.5,182,2072,0.00,2.53,0.00,0.000,6,0.000,0.040,3254,1895,2183
$GC,2268,1.74,262.2,2.7,9.5,210,2281,0.00,2.60,8.80,0.664,4,0.000,0.052,3254,3295,2133
$STATE,2285,end climb,SURFACE_DEPTH_REACHED
$STATE,2285,begin surface coast
$FINISH,0.1,1.010113
$STATE,2306,end surface coast,CONTROL_FINISHED_OK
$STATE,2306,begin surface
$SM_CCo,2334,107.55,0.578,0,0,1162,500.17
$SM_GC,0.91,0.00,0.00,107.55,0.000,0.000,0.578,413,2097,1162,-11.32,-0.37,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,030322
$TT8_MAMPS,0.071331
$HUMID,2184
$INTERNAL_PRESSURE,6.99246
$TCM_TEMP,20.10
$XPDR_PINGS,144
$ALTIM_TOP_PING,9.8,9.4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,23.8,11.089
$10V_AH,10.0,7.258
$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,29.250,35.850,310.775,107.550,0.000,62.475,35.642,172.954,36.500,0.000,3057.000,14.125,391.566,1220.193,521.384,401.966,370.633,31.416,789.187,0.000,381.438,0.000,4.101
$DEVICE_MAMPS,186.381,83.603,664.222,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.773,0.000,0.000,0.000,0.000,0.000,0.000,3057.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,216
$CFSIZE,260231168,258310144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,012107,4806.922,-12222.902,13,1.4,29,18.3