version: 66.02
glider: 117
mission: 2
dive: 5
start: 9 16 107 2 20 26
data:
$ID,117
$MISSION,2
$DIVE,5
$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,-15803.916
$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
$GPS1,020921,4807.015,-12223.053,14,1.9,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.2
$GPS2,021929,4806.952,-12223.039,14,2.3,33,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.038,0.171
$KALMAN_X,141.7,72.7,53.8,-588.3,28.4
$KALMAN_Y,-108.3,-88.1,-54.9,1430.4,-3.6
$MHEAD_RNG_PITCHd_Wd,354.3,101,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-2.22,-64.1,0.0,0.0,0,116,0.00,0.00,-85.05,0.000,2,0.000,0.000,409,2095,2724
$GC,119,-2.28,-114.6,2.2,-4.8,14,169,11.93,2.60,-31.33,0.000,4,0.185,0.079,2370,709,3670
$GC,234,-2.28,-114.6,13.3,-14.2,32,241,0.00,2.45,0.00,0.000,6,0.000,0.035,2370,2108,3672
$GC,305,-2.28,-114.6,24.4,-15.6,41,309,0.00,2.50,0.00,0.000,4,0.000,0.054,2370,3510,3673
$GC,370,-2.28,-114.6,35.1,-16.9,46,375,0.00,2.45,0.00,0.000,6,0.000,0.036,2370,2110,3674
$GC,573,-2.28,-114.6,67.8,-16.6,62,577,0.00,2.50,0.00,0.000,4,0.000,0.054,2370,3509,3674
$GC,645,-2.28,-114.6,79.9,-16.5,67,651,0.00,2.42,0.00,0.000,6,0.000,0.036,2370,2109,3676
$STATE,775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,775,begin apogee
$GC,780,-0.38,0.0,101.2,15.8,78,874,2.15,0.00,87.70,0.647,6,0.115,0.000,2784,1903,3202
$STATE,875,end apogee,CONTROL_FINISHED_OK
$STATE,875,begin climb
$GC,877,2.28,114.6,105.5,0.0,86,975,2.70,2.75,87.40,0.633,4,0.062,0.076,3371,500,2734
$GC,1021,2.28,115.5,98.0,10.0,97,1029,0.00,2.50,0.00,0.000,6,0.000,0.037,3371,1893,2735
$GC,1344,2.29,123.4,66.5,9.3,123,1356,0.00,0.00,6.50,0.686,6,0.000,0.000,3371,1894,2699
$GC,1671,2.31,133.4,34.9,9.0,149,1683,0.00,0.00,7.65,0.683,6,0.000,0.000,3371,1894,2658
$GC,1874,2.32,141.9,15.9,9.2,168,1887,0.00,0.00,6.18,0.690,6,0.000,0.000,3370,1894,2624
$GC,1953,2.32,148.0,8.4,9.5,180,1960,0.00,0.00,4.53,0.700,6,0.000,0.000,3371,1894,2598
$GC,2025,2.37,185.8,2.4,6.1,191,2039,0.00,0.00,11.27,0.653,2,0.000,0.000,3371,1894,2522
$STATE,2039,end climb,SURFACE_DEPTH_REACHED
$STATE,2039,begin surface coast
$FINISH,1.0,1.020186
$STATE,2077,end surface coast,CONTROL_FINISHED_OK
$STATE,2077,begin surface
$SM_CCo,2105,149.65,0.575,0,0,1163,500.17
$SM_GC,0.93,0.00,0.00,149.65,0.000,0.000,0.575,411,2117,1163,-11.33,0.17,500.17
$IRIDIUM_FIX,4751.72,-12220.85,160907,060635
$TT8_MAMPS,0.073632
$HUMID,2152
$INTERNAL_PRESSURE,6.97292
$TCM_TEMP,20.10
$XPDR_PINGS,132
$ALTIM_TOP_PING,9.7,9.0
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.8,11.273
$10V_AH,10.1,7.382
$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,31.000,20.875,211.225,149.650,0.000,104.725,65.751,197.336,33.500,0.000,3132.000,34.068,371.715,1207.508,473.894,378.103,452.625,33.320,705.709,0.000,340.454,0.000,4.099
$DEVICE_MAMPS,184.847,79.001,699.504,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.762,0.000,0.000,0.000,0.000,0.000,0.000,3132.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,199
$CFSIZE,260231168,258256896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,025905,4807.112,-12222.905,10,3.6,29,18.3