version: 66.02
glider: 117
mission: 2
dive: 18
start: 9 16 107 13 45 17
data:
$ID,117
$MISSION,2
$DIVE,18
$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,-16067.864
$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,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
$GPS1,133647,4807.165,-12223.277,8,8.4,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.3
$GPS2,134422,4807.129,-12223.267,11,3.0,30,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.203
$KALMAN_X,1197.6,169.5,58.5,-2023.4,-24.5
$KALMAN_Y,-1206.2,-163.7,-5.2,2882.0,18.0
$MHEAD_RNG_PITCHd_Wd,124.0,2613,-17.5,-9.524
$D_GRID,102
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-61.80,0.000,2,0.000,0.000,409,2113,2658
$GC,97,-1.52,-146.6,2.2,-5.2,10,153,13.75,2.53,-34.67,0.000,4,0.196,0.066,2563,3493,3800
$GC,402,-1.52,-146.6,30.5,-10.2,49,410,0.00,2.47,0.00,0.000,6,0.000,0.035,2563,2097,3804
$GC,599,-1.52,-146.6,49.9,-10.3,65,603,0.00,2.53,0.00,0.000,4,0.000,0.053,2563,3490,3805
$GC,855,-1.52,-146.6,76.8,-10.5,84,863,0.00,2.45,0.00,0.000,6,0.000,0.035,2563,2105,3805
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1093,-0.38,0.0,100.3,9.9,103,1213,1.27,0.00,115.97,0.651,6,0.094,0.000,2815,1913,3202
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1217,1.52,146.6,104.5,0.0,113,1341,1.98,2.75,113.43,0.631,4,0.064,0.074,3232,507,2603
$GC,1439,1.54,159.4,93.2,9.0,130,1453,0.00,2.50,9.35,0.667,6,0.000,0.036,3232,1897,2552
$GC,1768,1.58,195.4,65.4,8.0,156,1805,0.00,2.67,27.45,0.639,4,0.000,0.052,3232,3317,2405
$GC,1836,1.61,216.1,59.5,8.6,161,1857,0.00,2.53,15.70,0.640,6,0.000,0.038,3232,1910,2320
$GC,2171,1.62,222.7,28.7,9.2,188,2177,0.00,0.00,4.50,0.703,6,0.000,0.000,3231,1910,2294
$GC,2364,1.63,231.5,10.8,9.1,210,2378,0.10,0.00,6.72,0.685,6,0.062,0.000,3258,1910,2257
$GC,2444,1.64,242.4,3.3,9.1,222,2457,0.00,2.78,8.27,0.660,4,0.000,0.073,3258,509,2212
$STATE,2461,end climb,SURFACE_DEPTH_REACHED
$STATE,2461,begin surface coast
$FINISH,1.5,1.020133
$STATE,2475,end surface coast,CONTROL_FINISHED_OK
$STATE,2475,begin surface
$SM_CCo,2505,123.45,0.575,0,0,1162,500.17
$SM_GC,0.96,0.00,0.00,123.45,0.000,0.000,0.575,413,2115,1162,-11.44,0.42,500.17
$IRIDIUM_FIX,4751.72,-12226.29,160907,161659
$TT8_MAMPS,0.072865
$HUMID,2150
$INTERNAL_PRESSURE,6.95339
$TCM_TEMP,20.00
$XPDR_PINGS,75
$ALTIM_TOP_PING,9.7,9.2
$ALTIM_BOTTOM_PING,75.4,999.0
$24V_AH,23.0,13.151
$10V_AH,10.1,8.258
$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,30.650,26.425,301.400,123.450,0.000,63.855,49.544,156.067,19.250,149.420,3036.580,31.767,413.034,1355.177,504.604,463.700,365.116,33.330,776.893,0.000,423.109,0.000,4.112
$DEVICE_MAMPS,195.585,73.632,702.572,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.314,0.000,0.000,0.000,0.000,0.000,0.000,3186.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,227
$CFSIZE,260231168,257830912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,143007,4806.915,-12223.205,27,1.3,27,18.3