version: 66.02
glider: 117
mission: 2
dive: 13
start: 9 16 107 9 12 28
data:
$ID,117
$MISSION,2
$DIVE,13
$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,-15937.956
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,090505,4807.590,-12223.562,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.2
$GPS2,091132,4807.571,-12223.526,11,1.2,11,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.155,0.204
$KALMAN_X,824.2,190.7,56.4,-1997.0,24.7
$KALMAN_Y,-947.4,-238.2,-113.1,3621.7,-19.1
$MHEAD_RNG_PITCHd_Wd,304.5,987,-17.5,-9.524
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-1.52,-146.6,0.0,0.0,0,93,0.00,0.00,-61.05,0.000,2,0.000,0.000,413,2106,2627
$GC,96,-1.52,-146.6,2.0,-4.4,10,158,13.65,2.55,-40.67,0.000,4,0.193,0.067,2563,3494,3801
$GC,183,-1.52,-146.6,7.1,-11.5,24,190,0.00,2.55,0.00,0.000,6,0.000,0.035,2562,2095,3802
$GC,256,-1.52,-146.6,14.3,-9.0,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2095,3802
$GC,333,-1.52,-146.6,21.6,-9.7,46,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2095,3803
$GC,523,-1.52,-146.6,40.8,-10.2,61,528,0.00,2.55,0.00,0.000,4,0.000,0.054,2562,3493,3803
$GC,595,-1.52,-146.6,48.5,-10.6,66,599,0.00,2.45,0.00,0.000,6,0.000,0.035,2563,2098,3803
$GC,797,-1.52,-146.6,69.1,-10.2,82,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2098,3803
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1103,-0.38,0.0,100.6,10.1,106,1223,1.33,0.00,115.50,0.673,6,0.094,0.000,2814,1909,3202
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,1.52,146.6,105.3,0.0,116,1350,1.95,2.83,112.82,0.644,4,0.062,0.073,3233,512,2602
$GC,1448,1.55,170.1,94.7,8.5,133,1472,0.00,2.50,17.90,0.655,6,0.000,0.036,3233,1906,2508
$GC,1796,1.57,184.8,63.5,8.9,161,1812,0.00,2.58,10.93,0.675,4,0.000,0.051,3233,3308,2447
$GC,1839,1.57,184.8,59.1,10.0,164,1847,0.00,2.50,0.00,0.000,6,0.000,0.037,3233,1913,2447
$GC,2162,1.58,190.2,29.4,9.3,190,2175,0.00,2.72,3.62,0.726,4,0.000,0.073,3233,512,2426
$GC,2233,1.58,190.2,22.1,10.3,195,2240,0.00,2.50,0.00,0.000,6,0.000,0.036,3233,1913,2426
$GC,2437,1.64,236.9,4.5,7.5,224,2476,0.10,2.75,31.88,0.624,4,0.064,0.071,3261,506,2235
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,0.1,1.000159
$STATE,2521,end surface coast,CONTROL_FINISHED_OK
$STATE,2521,begin surface
$SM_CCo,2549,122.80,0.578,0,0,1163,500.17
$SM_GC,0.89,0.00,0.00,122.80,0.000,0.000,0.578,411,2108,1163,-11.45,0.23,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,121256
$TT8_MAMPS,0.071331
$HUMID,2151
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,107
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.0,12.392
$10V_AH,10.1,7.915
$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,30.225,31.675,292.650,122.800,0.000,61.997,37.111,127.168,27.250,149.420,3021.580,11.918,427.684,1396.188,504.966,433.202,316.423,33.327,781.516,0.000,415.156,0.000,4.099
$DEVICE_MAMPS,193.284,72.865,726.349,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.592,0.000,0.000,0.000,0.000,0.000,0.000,3171.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,237
$CFSIZE,260231168,257990656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160907,095802,4807.816,-12223.672,11,1.3,28,18.3