version: 66.02
glider: 117
mission: 2
dive: 16
start: 9 16 107 11 57 2
data:
$ID,117
$MISSION,2
$DIVE,16
$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,-16001.988
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,114444,4807.751,-12223.644,9,1.8,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-62.0
$GPS2,115607,4807.683,-12223.556,16,1.4,32,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.232
$KALMAN_X,1247.9,192.6,71.5,-2472.8,44.9
$KALMAN_Y,-1075.0,-201.7,-60.9,3868.1,42.9
$MHEAD_RNG_PITCHd_Wd,136.5,3662,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.52,-146.6,0.0,0.0,0,93,0.00,0.00,-61.20,0.000,2,0.000,0.000,410,2087,2641
$GC,96,-1.52,-146.6,2.1,-4.2,10,152,13.48,2.67,-35.97,0.000,4,0.197,0.076,2560,705,3802
$GC,173,-1.52,-146.6,6.5,-9.0,22,179,0.00,2.47,0.00,0.000,6,0.000,0.035,2560,2112,3804
$GC,244,-1.52,-146.6,13.0,-9.8,33,251,0.00,2.65,0.00,0.000,4,0.000,0.064,2560,705,3804
$GC,500,-1.52,-146.6,39.6,-10.7,58,508,0.00,2.50,0.00,0.000,6,0.000,0.035,2560,2099,3806
$GC,697,-1.52,-146.6,59.4,-10.1,74,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2099,3806
$GC,1012,-1.52,-146.6,90.5,-10.1,99,1016,0.00,2.62,0.00,0.000,4,0.000,0.055,2560,3498,3806
$GC,1058,-1.52,-146.6,95.1,-9.7,102,1062,0.00,2.45,0.00,0.000,6,0.000,0.035,2560,2098,3806
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1112,-0.38,0.0,100.3,10.2,106,1232,1.27,0.00,116.30,0.647,6,0.094,0.000,2811,1909,3202
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1236,1.52,146.6,104.3,0.0,116,1355,1.95,0.00,113.72,0.629,6,0.063,0.000,3233,1909,2604
$GC,1666,1.56,174.9,76.6,8.3,151,1691,0.00,0.00,21.55,0.645,6,0.000,0.000,3233,1908,2489
$GC,2006,1.60,207.6,47.7,8.1,178,2033,0.00,0.00,24.83,0.640,6,0.000,0.000,3232,1908,2355
$GC,2219,1.63,230.7,28.7,8.5,195,2243,0.00,0.00,17.80,0.640,6,0.000,0.000,3233,1908,2260
$GC,2438,1.67,264.0,8.4,8.1,221,2469,0.12,0.00,25.27,0.621,6,0.054,0.000,3267,1908,2124
$STATE,2522,end climb,SURFACE_DEPTH_REACHED
$STATE,2522,begin surface coast
$FINISH,0.4,1.019928
$STATE,2553,end surface coast,CONTROL_FINISHED_OK
$STATE,2553,begin surface
$SM_CCo,2580,115.03,0.574,0,0,1163,500.17
$SM_GC,0.88,0.00,0.00,115.03,0.000,0.000,0.574,412,2106,1163,-11.44,0.17,500.17
$IRIDIUM_FIX,4751.72,-12221.84,160907,151558
$TT8_MAMPS,0.075166
$HUMID,2169
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,113
$ALTIM_TOP_PING,9.5,9.0
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.1,12.869
$10V_AH,10.0,8.123
$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,29.975,16.000,319.475,115.025,0.000,101.001,69.975,265.355,28.750,219.988,3261.012,32.165,423.408,1488.812,523.606,427.567,533.422,33.327,771.093,0.000,391.034,0.000,4.101
$DEVICE_MAMPS,197.119,75.933,646.581,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.556,0.000,0.000,0.000,0.000,0.000,0.000,3481.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6434,239
$CFSIZE,260231168,257892352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,124244,4807.477,-12223.351,12,1.4,12,18.3