version: 66.02
glider: 117
mission: 2
dive: 20
start: 9 16 107 15 38 2
data:
$ID,117
$MISSION,2
$DIVE,20
$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,-16110.481
$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,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
$GPS1,153021,4806.674,-12222.796,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.3
$GPS2,153707,4806.647,-12222.780,12,1.5,28,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.193,-0.169
$KALMAN_X,1133.2,133.9,10.2,-1280.1,-97.8
$KALMAN_Y,-1369.1,-129.0,18.5,2092.1,-27.2
$MHEAD_RNG_PITCHd_Wd,112.8,1539,-17.5,-9.524
$D_GRID,104
$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,-61.00,0.000,2,0.000,0.000,409,2109,2632
$GC,96,-1.52,-146.6,2.2,-4.9,10,157,13.62,2.70,-37.90,0.000,4,0.195,0.074,2561,699,3802
$GC,347,-1.52,-146.6,23.4,-10.7,47,355,0.00,2.53,0.00,0.000,6,0.000,0.035,2561,2100,3805
$GC,544,-1.52,-146.6,42.6,-9.8,63,548,0.00,2.55,0.00,0.000,4,0.000,0.055,2561,3496,3805
$GC,651,-1.52,-146.6,53.4,-10.7,71,655,0.00,2.45,0.00,0.000,6,0.000,0.035,2562,2095,3805
$GC,972,-1.52,-146.6,84.6,-8.9,96,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2094,3805
$STATE,1134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1134,begin apogee
$GC,1139,-0.38,0.0,100.6,9.8,109,1261,1.27,0.00,116.47,0.656,6,0.094,0.000,2811,1914,3202
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1265,1.52,146.6,104.8,0.0,119,1389,1.95,2.75,113.30,0.637,4,0.066,0.073,3234,508,2603
$GC,1460,1.54,159.9,95.2,8.9,134,1479,0.00,2.53,9.75,0.670,6,0.000,0.036,3234,1901,2550
$GC,1794,1.57,181.9,66.8,8.6,161,1819,0.00,2.62,16.95,0.660,4,0.000,0.051,3234,3308,2459
$GC,1831,1.58,192.9,63.4,9.0,164,1845,0.00,2.50,8.32,0.676,6,0.000,0.037,3234,1903,2414
$GC,2159,1.59,196.5,33.2,9.4,190,2163,0.00,0.00,2.05,0.780,6,0.000,0.000,3234,1903,2401
$GC,2350,1.60,206.1,16.0,9.1,208,2363,0.00,2.67,7.47,0.697,4,0.000,0.073,3234,510,2360
$GC,2396,1.60,206.1,11.5,10.0,215,2402,0.00,2.47,0.00,0.000,6,0.000,0.037,3234,1911,2360
$GC,2469,1.67,269.1,5.8,6.8,226,2519,0.15,2.58,42.08,0.617,4,0.052,0.050,3277,3313,2103
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2524,begin surface coast
$FINISH,0.2,1.002083
$STATE,2550,end surface coast,CONTROL_FINISHED_OK
$STATE,2550,begin surface
$SM_CCo,2578,108.30,0.581,0,0,1163,500.17
$SM_GC,0.93,0.00,0.00,108.30,0.000,0.000,0.581,411,2083,1163,-11.45,-0.48,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,181848
$TT8_MAMPS,0.072098
$HUMID,2135
$INTERNAL_PRESSURE,6.95339
$TCM_TEMP,19.90
$XPDR_PINGS,30
$ALTIM_TOP_PING,9.7,9.3
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.1,13.435
$10V_AH,10.1,8.402
$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,30.175,30.850,316.400,108.300,0.000,64.026,32.992,131.392,8.000,145.133,3065.867,28.968,423.743,1413.866,507.936,443.462,321.739,33.328,781.122,0.000,408.679,0.000,4.099
$DEVICE_MAMPS,194.818,74.399,780.039,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.856,0.000,0.000,0.000,0.000,0.000,0.000,3211.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,239
$CFSIZE,260231168,257761280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,162338,4806.425,-12222.438,10,1.4,15,18.3