version: 66.02
glider: 117
mission: 2
dive: 8
start: 9 16 107 4 49 30
data:
$ID,117
$MISSION,2
$DIVE,8
$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,-15840.753
$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,21
$R_STBD_OVSHOOT,41
$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
$GPS1,043803,4807.083,-12222.915,15,1.6,15,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.4
$GPS2,044833,4807.028,-12222.873,11,1.7,11,18.3
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.173,-0.029
$KALMAN_X,396.1,170.5,40.7,-725.4,46.6
$KALMAN_Y,-322.6,-162.2,-42.7,1847.3,-21.1
$MHEAD_RNG_PITCHd_Wd,242.1,165,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,31,-2.22,-64.1,0.0,0.0,0,95,0.00,0.00,-61.95,0.000,2,0.000,0.000,413,2128,2668
$GC,98,-2.29,-121.8,2.1,-4.0,10,159,12.10,2.53,-38.58,0.000,4,0.193,0.066,2366,3499,3701
$GC,409,-2.29,-121.8,44.8,-17.1,47,414,0.00,2.42,0.00,0.000,6,0.000,0.035,2366,2098,3703
$GC,611,-2.29,-121.8,78.0,-16.2,63,615,0.00,2.53,0.00,0.000,4,0.000,0.053,2366,3505,3704
$STATE,743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,743,begin apogee
$GC,750,-0.38,0.0,100.5,17.6,73,853,2.15,0.00,96.40,0.650,6,0.121,0.000,2783,1900,3202
$STATE,854,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,856,2.29,121.8,105.7,0.0,82,959,2.72,2.75,93.57,0.633,4,0.063,0.074,3375,495,2704
$GC,1018,2.29,121.8,95.6,11.0,94,1026,0.00,2.50,0.00,0.000,6,0.000,0.036,3375,1887,2703
$GC,1341,2.30,125.4,62.0,9.7,120,1348,0.00,2.62,2.10,0.755,4,0.000,0.052,3375,3296,2690
$GC,1454,2.30,125.4,50.3,10.4,128,1459,0.00,2.50,0.00,0.000,6,0.000,0.038,3374,1892,2690
$GC,1776,2.31,137.6,19.6,8.8,153,1794,0.00,2.62,9.02,0.667,4,0.000,0.050,3375,3302,2641
$GC,1859,2.31,137.6,11.2,10.6,166,1866,0.00,2.50,0.00,0.000,6,0.000,0.038,3375,1899,2641
$GC,1933,2.35,166.0,5.0,7.1,177,1964,0.00,2.75,21.75,0.630,4,0.000,0.073,3374,506,2525
$GC,1976,2.40,210.6,2.3,5.4,184,1996,0.00,2.47,14.90,0.618,2,0.000,0.036,3375,1908,2390
$STATE,1997,end climb,SURFACE_DEPTH_REACHED
$STATE,1997,begin surface coast
$FINISH,1.6,1.019884
$STATE,2081,end surface coast,CONTROL_FINISHED_OK
$STATE,2081,begin surface
$SM_CCo,2108,135.90,0.573,0,0,1162,500.17
$SM_GC,0.95,0.00,0.00,135.90,0.000,0.000,0.573,410,2121,1162,-11.33,0.31,500.17
$IRIDIUM_FIX,4748.51,-12226.29,160907,080821
$TT8_MAMPS,0.0767
$HUMID,2178
$INTERNAL_PRESSURE,6.99246
$TCM_TEMP,20.20
$XPDR_PINGS,125
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,76.0,999.0
$24V_AH,23.1,11.698
$10V_AH,10.0,7.575
$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,31.350,31.375,237.750,135.900,0.000,103.002,69.483,231.948,31.750,132.810,2870.190,11.718,372.447,1160.387,471.840,392.226,498.513,33.320,719.253,0.000,373.586,0.000,4.101
$DEVICE_MAMPS,192.517,73.632,754.728,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.685,0.000,0.000,0.000,0.000,0.000,0.000,3003.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,200
$CFSIZE,260231168,258158592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160907,052759,4806.967,-12223.099,10,2.2,29,18.3