version: 66.02
glider: 117
mission: 2
dive: 14
start: 9 16 107 10 5 46
data:
$ID,117
$MISSION,2
$DIVE,14
$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,-15954.129
$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,30
$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
$GPS1,095802,4807.816,-12223.672,11,1.3,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-63.2
$GPS2,100450,4807.789,-12223.628,10,1.2,15,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,0.151
$KALMAN_X,996.1,188.7,58.5,-2295.1,50.1
$KALMAN_Y,-986.2,-231.1,-106.5,4049.5,13.0
$MHEAD_RNG_PITCHd_Wd,287.8,604,-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,-60.97,0.000,2,0.000,0.000,411,2109,2635
$GC,96,-1.52,-146.6,2.1,-5.0,10,157,13.60,2.58,-38.33,0.000,4,0.196,0.066,2563,3497,3802
$GC,177,-1.52,-146.6,6.3,-9.4,23,183,0.00,2.47,0.00,0.000,6,0.000,0.035,2563,2094,3804
$GC,248,-1.52,-146.6,13.0,-10.1,34,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2094,3804
$GC,320,-1.52,-146.6,20.0,-9.9,45,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2093,3805
$GC,389,-1.52,-146.6,26.7,-9.6,51,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2093,3804
$GC,579,-1.52,-146.6,44.8,-9.6,66,584,0.00,2.58,0.00,0.000,4,0.000,0.054,2563,3498,3805
$GC,624,-1.52,-146.6,49.3,-10.0,69,628,0.00,2.45,0.00,0.000,6,0.000,0.035,2563,2100,3805
$GC,826,-1.52,-146.6,68.8,-9.9,85,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2100,3806
$GC,1142,-1.52,-146.6,99.8,-9.4,110,1146,0.00,2.20,0.00,0.000,3,0.000,0.051,2563,3313,3805
$STATE,1147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1147,begin apogee
$GC,1155,-0.38,0.0,100.2,9.1,110,1275,1.25,0.00,116.00,0.656,6,0.095,0.000,2812,1911,3202
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1279,1.52,146.6,104.4,0.0,120,1403,1.95,2.75,113.18,0.634,4,0.064,0.074,3233,508,2603
$GC,1474,1.54,157.1,95.1,9.1,135,1487,0.00,2.53,7.78,0.673,6,0.000,0.036,3233,1910,2562
$GC,1803,1.55,169.7,66.1,9.0,161,1815,0.00,0.00,9.40,0.674,6,0.000,0.000,3233,1910,2509
$GC,2131,1.58,194.6,37.0,8.4,187,2156,0.00,2.72,19.27,0.642,4,0.000,0.071,3233,508,2407
$GC,2208,1.58,194.6,29.6,10.3,193,2212,0.00,2.50,0.00,0.000,6,0.000,0.036,3233,1915,2406
$GC,2408,1.61,215.0,11.9,8.6,215,2434,0.00,2.60,15.12,0.648,4,0.000,0.051,3233,3306,2325
$GC,2453,1.62,223.9,7.8,9.1,222,2466,0.00,2.47,6.57,0.672,6,0.000,0.038,3233,1907,2289
$STATE,2531,end climb,SURFACE_DEPTH_REACHED
$STATE,2531,begin surface coast
$FINISH,0.3,1.019426
$STATE,2564,end surface coast,CONTROL_FINISHED_OK
$STATE,2564,begin surface
$SM_CCo,2591,133.48,0.576,0,0,1163,500.17
$SM_GC,0.85,0.00,0.00,133.48,0.000,0.000,0.576,408,2111,1163,-11.46,0.31,500.17
$IRIDIUM_FIX,4748.51,-12226.29,160907,131325
$TT8_MAMPS,0.071331
$HUMID,2182
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,98
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,75.0,999.0
$24V_AH,23.1,12.549
$10V_AH,10.0,7.983
$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,29.750,30.700,287.325,133.475,0.000,61.905,39.561,142.675,25.000,220.049,3019.951,15.543,434.640,1437.801,510.660,429.655,338.577,33.330,785.296,0.000,406.816,0.000,4.112
$DEVICE_MAMPS,195.585,73.632,674.193,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.949,0.000,0.000,0.000,0.000,0.000,0.000,3240.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,239
$CFSIZE,260231168,257961984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,105157,4807.993,-12223.908,13,1.7,13,18.3