version: 66.02
glider: 117
mission: 2
dive: 17
start: 9 16 107 12 51 21
data:
$ID,117
$MISSION,2
$DIVE,17
$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,-16035.469
$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,23
$R_STBD_OVSHOOT,40
$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
$GPS1,124244,4807.477,-12223.351,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.7
$GPS2,125026,4807.429,-12223.319,15,1.3,32,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.227
$KALMAN_X,1308.8,191.0,73.2,-2240.3,24.5
$KALMAN_Y,-1112.3,-177.6,-26.2,3376.7,33.2
$MHEAD_RNG_PITCHd_Wd,134.1,3110,-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,-60.90,0.000,2,0.000,0.000,412,2106,2629
$GC,96,-1.52,-146.6,2.0,-4.3,10,152,13.57,2.53,-35.53,0.000,4,0.196,0.067,2564,3497,3800
$GC,401,-1.52,-146.6,32.3,-10.2,48,409,0.00,2.47,0.00,0.000,6,0.000,0.035,2564,2102,3803
$GC,598,-1.52,-146.6,52.0,-9.8,64,602,0.00,2.55,0.00,0.000,4,0.000,0.053,2564,3495,3804
$GC,788,-1.52,-146.6,71.9,-10.6,78,796,0.00,2.47,0.00,0.000,6,0.000,0.035,2564,2104,3805
$STATE,1084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1084,begin apogee
$GC,1089,-0.38,0.0,100.2,9.0,102,1209,1.25,0.00,115.55,0.650,6,0.095,0.000,2811,1911,3201
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1213,1.52,146.6,104.6,0.0,112,1336,1.95,2.72,112.70,0.630,4,0.064,0.073,3236,512,2603
$GC,1381,1.54,159.0,97.4,9.0,125,1396,0.00,2.50,9.02,0.667,6,0.000,0.037,3235,1900,2554
$GC,1710,1.57,187.4,68.9,8.3,151,1738,0.00,2.62,21.75,0.645,4,0.000,0.052,3236,3306,2436
$GC,1778,1.57,187.4,62.7,9.6,156,1786,0.00,2.50,0.00,0.000,6,0.000,0.038,3236,1911,2435
$GC,2101,1.60,206.5,34.6,8.7,182,2117,0.00,0.00,14.05,0.651,6,0.000,0.000,3235,1911,2361
$GC,2304,1.63,233.0,17.1,8.4,200,2328,0.00,0.00,20.30,0.633,6,0.000,0.000,3235,1911,2252
$GC,2394,1.63,234.0,8.4,9.5,214,2400,0.00,2.70,0.00,0.000,4,0.000,0.074,3236,511,2251
$GC,2466,1.76,340.7,3.2,4.9,225,2492,0.22,2.50,20.62,0.622,2,0.045,0.037,3293,1916,2124
$STATE,2493,end climb,SURFACE_DEPTH_REACHED
$STATE,2493,begin surface coast
$FINISH,0.3,1.020033
$STATE,2525,end surface coast,CONTROL_FINISHED_OK
$STATE,2526,begin surface
$SM_CCo,2551,112.62,0.574,0,0,1163,500.17
$SM_GC,0.89,0.00,0.00,112.62,0.000,0.000,0.574,409,2112,1163,-11.46,0.34,500.17
$IRIDIUM_FIX,4748.51,-12226.29,160907,151546
$TT8_MAMPS,0.070564
$HUMID,2167
$INTERNAL_PRESSURE,6.96316
$TCM_TEMP,20.00
$XPDR_PINGS,95
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.8,13.013
$10V_AH,10.1,8.191
$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,30.300,26.200,314.000,112.625,0.000,60.546,39.195,177.300,24.250,165.987,3065.013,32.849,421.054,1387.644,503.642,461.636,369.854,33.334,779.256,0.000,421.327,0.000,4.051
$DEVICE_MAMPS,196.352,74.399,666.523,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.246,0.000,0.000,0.000,0.000,0.000,0.000,3231.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6469,234
$CFSIZE,260231168,257863680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,133647,4807.165,-12223.277,8,8.4,27,18.3