version: 66.02
glider: 117
mission: 2
dive: 9
start: 9 16 107 5 37 18
data:
$ID,117
$MISSION,2
$DIVE,9
$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,35
$T_MISSION,85
$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,-15876.923
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$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,2100
$C_ROLL_CLIMB,1910
$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
$GPS1,052759,4806.967,-12223.099,10,2.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.1
$GPS2,053623,4806.913,-12223.076,15,4.3,34,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.219
$KALMAN_X,472.5,180.6,39.7,-1060.0,49.2
$KALMAN_Y,-440.5,-183.3,-39.2,1769.0,-54.4
$MHEAD_RNG_PITCHd_Wd,310.4,2315,-17.5,-9.524
$D_GRID,101
$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,-1.52,-146.6,0.0,0.0,0,87,0.00,0.00,-55.12,0.000,2,0.000,0.000,410,2121,2511
$GC,90,-1.52,-146.6,2.1,-4.2,9,151,13.60,0.00,-44.65,0.000,6,0.191,0.000,2564,2124,3801
$GC,217,-1.52,-146.6,9.6,-9.2,29,223,0.00,2.45,0.00,0.000,4,0.000,0.054,2564,3484,3803
$GC,282,-1.52,-146.6,16.2,-9.9,39,288,0.00,2.42,0.00,0.000,6,0.000,0.035,2564,2087,3803
$GC,360,-1.52,-146.6,23.9,-10.0,48,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2089,3804
$GC,549,-1.52,-146.6,42.2,-9.7,63,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2086,3805
$GC,738,-1.52,-146.6,60.9,-9.7,78,742,0.00,2.53,0.00,0.000,4,0.000,0.054,2564,3485,3805
$GC,810,-1.52,-146.6,68.4,-10.2,83,814,0.00,2.40,0.00,0.000,6,0.000,0.035,2564,2100,3805
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1142,-0.38,0.0,101.0,9.9,109,1261,1.25,0.00,115.35,0.657,6,0.094,0.000,2813,1908,3202
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1265,1.52,146.6,105.1,0.0,119,1388,1.92,2.75,112.45,0.634,4,0.064,0.076,3230,506,2603
$GC,1467,1.55,164.2,95.0,8.8,135,1486,0.00,2.47,13.12,0.663,6,0.000,0.037,3231,1903,2532
$GC,1801,1.58,193.9,66.4,8.2,161,1829,0.00,2.62,22.67,0.646,4,0.000,0.053,3231,3302,2411
$GC,1877,1.58,193.9,59.4,9.6,167,1881,0.00,2.47,0.00,0.000,6,0.000,0.038,3231,1910,2410
$GC,2206,1.60,208.8,30.1,8.9,193,2222,0.00,2.75,11.20,0.656,4,0.000,0.076,3231,509,2350
$GC,2249,1.60,208.8,25.6,10.1,196,2257,0.00,2.60,0.00,0.000,6,0.000,0.036,3230,1903,2349
$GC,2452,1.63,232.9,7.3,8.5,222,2477,0.12,0.00,18.40,0.638,6,0.056,0.000,3260,1904,2251
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,0.3,1.019935
$STATE,2561,end surface coast,CONTROL_FINISHED_OK
$STATE,2561,begin surface
$SM_CCo,2587,124.90,0.581,0,0,1162,500.17
$SM_GC,1.02,0.00,0.00,124.90,0.000,0.000,0.581,412,2111,1162,-11.44,0.31,500.17
$IRIDIUM_FIX,4748.51,-12220.12,160907,080858
$TT8_MAMPS,0.072098
$HUMID,2175
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,146
$ALTIM_TOP_PING,9.5,999.0
$ALTIM_BOTTOM_PING,76.1,999.0
$24V_AH,23.8,11.835
$10V_AH,10.1,7.646
$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,30.050,26.125,293.200,124.900,0.000,61.858,37.038,222.261,37.000,128.626,3218.374,35.541,435.632,1437.028,494.591,457.127,410.901,33.330,769.065,0.000,414.979,0.000,4.053
$DEVICE_MAMPS,190.983,75.933,663.455,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.574,0.000,0.000,0.000,0.000,0.000,0.000,3347.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6458,239
$CFSIZE,260231168,258121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,062337,4807.080,-12223.203,32,1.2,32,18.3