version: 66.02
glider: 117
mission: 2
dive: 22
start: 9 16 107 17 24 27
data:
$ID,117
$MISSION,2
$DIVE,22
$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,-16161.57
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,171638,4806.158,-12222.131,8,1.3,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.2
$GPS2,172332,4806.155,-12222.111,16,1.9,33,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.150
$KALMAN_X,1295.3,79.3,-46.2,-502.9,17.0
$KALMAN_Y,-1491.1,-110.7,-2.8,1304.7,-21.5
$MHEAD_RNG_PITCHd_Wd,137.0,318,-27.8,-9.524
$D_GRID,108
$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,-2.21,-58.7,0.0,0.0,0,99,0.00,0.00,-67.03,0.000,2,0.000,0.000,413,2090,2752
$GC,102,-2.26,-101.5,2.1,-4.9,11,152,12.65,2.55,-29.10,0.000,4,0.203,0.067,2397,3496,3619
$GC,302,-2.26,-101.5,26.2,-14.4,39,310,0.00,2.45,0.00,0.000,6,0.000,0.035,2397,2102,3621
$GC,498,-2.26,-101.5,54.5,-14.4,55,502,0.00,2.53,0.00,0.000,4,0.000,0.054,2397,3503,3623
$GC,596,-2.26,-101.5,69.8,-15.7,62,604,0.00,2.45,0.00,0.000,6,0.000,0.035,2398,2105,3622
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,816,begin apogee
$GC,821,-0.38,0.0,101.1,13.9,80,908,2.17,0.00,81.05,0.657,6,0.118,0.000,2813,1913,3202
$STATE,908,end apogee,CONTROL_FINISHED_OK
$STATE,908,begin climb
$GC,910,2.26,101.5,104.0,0.0,87,999,2.67,2.75,78.70,0.640,4,0.060,0.070,3396,516,2788
$GC,1113,2.26,101.5,88.6,11.0,103,1117,0.00,2.47,0.00,0.000,6,0.000,0.036,3397,1913,2786
$GC,1441,2.26,103.6,56.1,9.3,129,1446,0.00,2.53,0.00,0.000,4,0.000,0.053,3397,3311,2786
$GC,1479,2.26,103.6,52.3,10.0,131,1487,0.00,2.47,0.00,0.000,6,0.000,0.036,3397,1915,2785
$GC,1802,2.28,118.6,25.5,7.9,157,1817,0.00,0.00,12.62,0.665,6,0.000,0.000,3399,1916,2718
$GC,2010,2.30,134.2,9.4,7.8,183,2029,0.00,2.55,11.62,0.664,4,0.000,0.051,3397,3315,2654
$GC,2180,2.41,222.7,3.2,-0.1,209,2236,0.12,2.47,46.20,0.613,6,0.066,0.036,3426,1903,2292
$STATE,2241,end climb,SURFACE_DEPTH_REACHED
$STATE,2241,begin surface coast
$FINISH,0.1,1.010594
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2328,128.90,0.578,0,0,1162,500.17
$SM_GC,0.97,0.00,0.00,128.90,0.000,0.000,0.578,413,2120,1162,-11.44,0.57,500.17
$IRIDIUM_FIX,4748.51,-12224.57,160907,202054
$TT8_MAMPS,0.072098
$HUMID,2156
$INTERNAL_PRESSURE,6.98269
$TCM_TEMP,20.10
$XPDR_PINGS,22
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,76.4,999.0
$24V_AH,23.8,13.672
$10V_AH,10.1,8.531
$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,31.525,25.875,230.200,128.900,0.000,62.076,34.247,135.114,6.000,0.000,2968.000,33.021,412.772,1273.315,449.978,434.939,318.225,33.323,704.881,0.000,395.064,0.000,4.101
$DEVICE_MAMPS,203.255,69.797,664.989,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.896,0.000,0.000,0.000,0.000,0.000,0.000,2968.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,228
$CFSIZE,260231168,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160907,180638,4805.947,-12221.961,40,1.0,40,18.3