version: 66.02
glider: 117
mission: 2
dive: 19
start: 9 16 107 14 44 0
data:
$ID,117
$MISSION,2
$DIVE,19
$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,-16080.883
$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,29
$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
$GPS1,143007,4806.915,-12223.205,27,1.3,27,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.6
$GPS2,144303,4806.844,-12223.148,12,1.5,12,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.198,-0.163
$KALMAN_X,1072.1,152.3,41.9,-1718.9,-104.4
$KALMAN_Y,-1319.6,-148.7,10.1,2437.2,-3.2
$MHEAD_RNG_PITCHd_Wd,111.1,2113,-17.5,-9.524
$D_GRID,101
$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,-61.22,0.000,2,0.000,0.000,413,2116,2629
$GC,96,-1.52,-146.6,2.0,-4.2,10,157,13.50,2.75,-38.38,0.000,4,0.195,0.074,2562,697,3802
$GC,408,-1.52,-146.6,28.3,-10.8,52,412,0.00,2.50,0.00,0.000,6,0.000,0.035,2562,2106,3804
$GC,610,-1.52,-146.6,48.6,-10.6,68,614,0.00,2.53,0.00,0.000,4,0.000,0.055,2562,3495,3805
$GC,676,-1.52,-146.6,55.5,-10.3,73,680,0.00,2.47,0.00,0.000,6,0.000,0.035,2562,2089,3805
$GC,1004,-1.52,-146.6,88.0,-10.0,99,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2089,3805
$STATE,1128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1128,begin apogee
$GC,1134,-0.38,0.0,100.9,10.2,109,1254,1.27,0.00,116.40,0.651,6,0.094,0.000,2814,1914,3202
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1258,1.52,146.6,105.4,0.0,119,1382,1.92,2.75,113.38,0.632,4,0.063,0.072,3234,506,2603
$GC,1461,1.54,157.2,95.8,9.1,135,1474,0.00,2.50,7.70,0.673,6,0.000,0.036,3234,1913,2561
$GC,1789,1.56,175.0,68.2,8.7,161,1807,0.00,2.70,13.68,0.661,4,0.000,0.071,3234,512,2487
$GC,1833,1.56,175.0,63.9,9.6,164,1837,0.00,2.47,0.00,0.000,6,0.000,0.037,3234,1909,2487
$GC,2162,1.60,206.6,35.2,8.1,190,2187,0.00,0.00,23.73,0.639,6,0.000,0.000,3234,1910,2359
$GC,2377,1.61,216.6,16.4,9.1,210,2390,0.00,2.55,7.45,0.676,4,0.000,0.052,3234,3303,2318
$GC,2422,1.61,216.6,11.8,10.5,217,2429,0.00,2.47,0.00,0.000,6,0.000,0.038,3234,1904,2319
$GC,2496,1.64,241.5,5.6,8.4,228,2521,0.10,2.70,18.80,0.635,4,0.061,0.074,3262,509,2217
$STATE,2545,end climb,SURFACE_DEPTH_REACHED
$STATE,2545,begin surface coast
$FINISH,0.4,1.020095
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2579,begin surface
$SM_CCo,2608,125.75,0.578,0,0,1162,500.17
$SM_GC,0.92,0.00,0.00,125.75,0.000,0.000,0.578,409,2108,1162,-11.46,0.23,500.17
$IRIDIUM_FIX,4748.51,-12221.84,160907,181850
$TT8_MAMPS,0.071331
$HUMID,2147
$INTERNAL_PRESSURE,6.95339
$TCM_TEMP,19.90
$XPDR_PINGS,77
$ALTIM_TOP_PING,9.4,9.3
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.0,13.301
$10V_AH,10.1,8.335
$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,29.975,31.575,301.125,125.750,0.000,137.837,223.317,132.511,19.750,157.740,3467.260,12.389,435.302,1565.724,506.721,434.527,588.269,33.357,776.631,0.000,414.509,0.000,4.100
$DEVICE_MAMPS,194.818,73.632,675.727,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.902,0.000,0.000,0.000,0.000,0.000,0.000,3625.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,241
$CFSIZE,260231168,257794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,153021,4806.674,-12222.796,12,1.9,12,18.3