version: 66.02
glider: 117
mission: 2
dive: 4
start: 9 16 107 1 28 23
data:
$ID,117
$MISSION,2
$DIVE,4
$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,-15769.218
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,012107,4806.922,-12222.902,13,1.4,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.2
$GPS2,012727,4806.886,-12222.888,19,1.6,19,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.108,0.138
$KALMAN_X,120.3,65.3,54.0,-373.6,37.9
$KALMAN_Y,-37.1,-43.6,-41.0,1175.3,-13.6
$MHEAD_RNG_PITCHd_Wd,303.7,252,-27.9,-10.101
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-2.22,-64.1,0.0,0.0,0,99,0.00,0.00,-67.03,0.000,2,0.000,0.000,413,2096,2771
$GC,102,-2.28,-115.7,2.1,-4.7,11,151,11.98,2.60,-28.55,0.000,4,0.189,0.067,2369,3510,3677
$GC,171,-2.28,-115.7,7.6,-13.6,22,178,0.00,2.45,0.00,0.000,6,0.000,0.038,2369,2108,3678
$GC,243,-2.28,-115.7,18.9,-15.1,33,249,0.00,2.53,0.00,0.000,4,0.000,0.054,2370,3508,3678
$GC,348,-2.28,-115.7,35.6,-15.6,42,352,0.00,2.47,0.00,0.000,6,0.000,0.038,2370,2106,3679
$GC,550,-2.28,-115.7,68.6,-16.3,58,554,0.00,2.53,0.00,0.000,4,0.000,0.054,2369,3510,3679
$GC,655,-2.28,-115.7,86.3,-17.3,66,659,0.00,2.45,0.00,0.000,6,0.000,0.038,2369,2101,3680
$STATE,742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,742,begin apogee
$GC,747,-0.38,0.0,100.4,16.1,73,842,2.17,0.00,90.57,0.657,6,0.116,0.000,2787,1900,3202
$STATE,843,end apogee,CONTROL_FINISHED_OK
$STATE,843,begin climb
$GC,845,2.28,115.7,104.7,0.0,81,944,2.70,2.75,88.32,0.639,4,0.064,0.078,3371,502,2729
$GC,997,2.28,115.7,96.1,10.3,93,1001,0.00,2.47,0.00,0.000,6,0.000,0.038,3371,1900,2728
$GC,1325,2.30,124.4,64.1,9.2,119,1337,0.00,0.00,6.03,0.701,6,0.000,0.000,3371,1901,2694
$GC,1653,2.30,130.2,33.7,9.5,145,1666,0.00,2.55,4.05,0.721,4,0.000,0.052,3371,3294,2671
$GC,1718,2.31,137.8,27.4,9.3,150,1731,0.00,2.45,5.72,0.700,6,0.000,0.040,3371,1901,2640
$GC,1925,2.33,152.6,8.4,8.5,175,1944,0.00,2.55,10.95,0.667,4,0.000,0.051,3371,3291,2579
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,2.2,1.020025
$STATE,2068,end surface coast,CONTROL_FINISHED_OK
$STATE,2068,begin surface
$SM_CCo,2075,221.40,0.570,0,0,746,602.46
$SM_GC,0.92,13.45,0.00,0.00,0.043,0.000,0.000,409,2097,743,-11.30,-0.37,603.44
$IRIDIUM_FIX,4751.72,-12223.57,160907,040429
$TT8_MAMPS,0.070564
$HUMID,2201
$INTERNAL_PRESSURE,6.97292
$TCM_TEMP,20.10
$XPDR_PINGS,147
$ALTIM_TOP_PING,9.6,999.0
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.8,11.182
$10V_AH,10.1,7.316
$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,30.300,30.275,205.650,221.400,0.000,58.724,37.822,121.064,37.250,0.000,2702.000,19.335,377.690,1227.047,529.435,378.581,297.279,32.329,765.250,0.000,355.217,0.000,4.050
$DEVICE_MAMPS,188.682,78.234,720.980,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.737,0.000,0.000,0.000,0.000,0.000,0.000,2702.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,197
$CFSIZE,260231168,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160907,020921,4807.015,-12223.053,14,1.9,14,18.3