version: 66.02
glider: 117
mission: 2
dive: 21
start: 9 16 107 16 31 34
data:
$ID,117
$MISSION,2
$DIVE,21
$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,-16127.922
$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,26
$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
$GPS1,162338,4806.425,-12222.438,10,1.4,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.0
$GPS2,163038,4806.393,-12222.431,11,1.4,16,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.199
$KALMAN_X,1220.6,97.5,-34.2,-854.4,-19.0
$KALMAN_Y,-1455.9,-127.7,2.3,1723.4,-19.0
$MHEAD_RNG_PITCHd_Wd,122.6,902,-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,-61.00,0.000,2,0.000,0.000,412,2084,2608
$GC,96,-1.52,-146.6,2.1,-4.2,10,158,13.50,2.60,-41.62,0.000,4,0.194,0.074,2566,702,3801
$GC,388,-1.52,-146.6,26.9,-10.4,50,395,0.00,2.50,0.00,0.000,6,0.000,0.035,2567,2093,3804
$GC,584,-1.52,-146.6,46.6,-9.8,66,588,0.00,2.55,0.00,0.000,4,0.000,0.055,2567,3496,3804
$GC,636,-1.52,-146.6,51.8,-9.8,70,641,0.00,2.45,0.00,0.000,6,0.000,0.035,2567,2094,3805
$GC,965,-1.52,-146.6,84.0,-10.0,96,969,0.00,2.60,0.00,0.000,4,0.000,0.055,2567,3504,3805
$GC,1038,-1.52,-146.6,91.3,-9.8,101,1043,0.00,2.50,0.00,0.000,6,0.000,0.035,2566,2097,3805
$STATE,1143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1143,begin apogee
$GC,1148,-0.38,0.0,100.9,8.9,109,1269,1.25,0.00,116.43,0.660,6,0.096,0.000,2812,1908,3202
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1273,1.52,146.6,104.0,0.0,119,1397,1.95,2.78,113.95,0.635,4,0.066,0.071,3232,511,2604
$GC,1436,1.56,177.3,96.8,8.2,132,1464,0.00,2.50,23.70,0.641,6,0.000,0.036,3232,1914,2479
$GC,1789,1.57,186.1,64.1,9.1,160,1800,0.00,0.00,6.53,0.686,6,0.000,0.000,3232,1916,2442
$GC,2116,1.60,209.6,36.0,8.5,186,2140,0.00,0.00,18.02,0.647,6,0.000,0.000,3232,1915,2346
$GC,2331,1.61,214.8,15.5,9.3,206,2344,0.00,2.75,3.62,0.720,4,0.000,0.071,3232,510,2326
$GC,2376,1.61,219.8,11.3,9.3,213,2389,0.00,2.47,3.75,0.713,6,0.000,0.036,3232,1912,2305
$GC,2455,1.64,244.1,4.7,8.5,225,2481,0.12,2.55,18.85,0.637,4,0.054,0.051,3266,3305,2205
$STATE,2485,end climb,SURFACE_DEPTH_REACHED
$STATE,2485,begin surface coast
$FINISH,0.8,1.020029
$STATE,2507,end surface coast,CONTROL_FINISHED_OK
$STATE,2507,begin surface
$SM_CCo,2534,121.65,0.581,0,0,1162,500.17
$SM_GC,0.95,0.00,0.00,121.65,0.000,0.000,0.581,413,2090,1162,-11.44,-0.28,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,191939
$TT8_MAMPS,0.071331
$HUMID,2154
$INTERNAL_PRESSURE,6.95339
$TCM_TEMP,20.00
$XPDR_PINGS,35
$ALTIM_TOP_PING,9.7,9.3
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,23.1,13.591
$10V_AH,10.1,8.468
$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,29.850,30.725,304.850,121.650,0.000,58.437,40.512,154.545,9.250,219.950,2948.050,16.811,419.642,1388.837,514.766,425.127,347.397,33.326,784.022,0.000,402.260,0.000,4.100
$DEVICE_MAMPS,194.051,74.399,720.213,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.760,0.000,0.000,0.000,0.000,0.000,0.000,3168.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,233
$CFSIZE,260231168,257732608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,171638,4806.158,-12222.131,8,1.3,13,18.3