version: 66.02
glider: 119
mission: 2
dive: 8
start: 10 30 107 2 22 46
data:
$ID,119
$MISSION,2
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,62.5
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.299999
$TGT_DEFAULT_LON,-157.8
$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,-14055.141
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1379
$PITCH_MAX,3813
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3878
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3879
$C_VBD,3267
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-3.8181691
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$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
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004348367
$SEABIRD_T_H,0.00063394889
$SEABIRD_T_I,2.4089732e-05
$SEABIRD_T_J,2.5198262e-06
$SEABIRD_C_G,-10.04077
$SEABIRD_C_H,1.1285373
$SEABIRD_C_I,-0.0022196125
$SEABIRD_C_J,0.00025642588
$GPS1,021737,4806.572,-12222.693,36,2.0,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-74.9
$GPS2,022153,4806.570,-12222.698,13,2.3,32,18.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.176
$KALMAN_X,-559.8,-165.8,-21.1,1351.6,-215.2
$KALMAN_Y,266.7,31.9,6.0,-3333.1,171.3
$MHEAD_RNG_PITCHd_Wd,118.8,1364,-14.0,-8.000
$D_GRID,150
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.82,-146.6,0.0,0.0,0,91,0.00,0.00,-71.70,0.000,2,0.000,0.000,1375,2204,2801
$GC,93,-0.82,-146.6,3.2,-5.8,13,139,11.65,2.50,-28.42,0.000,4,0.180,0.083,2982,3618,3866
$GC,172,-0.82,-146.6,11.9,-10.6,27,179,0.00,2.33,0.00,0.000,6,0.000,0.044,2982,2213,3866
$GC,246,-0.82,-146.6,19.2,-9.9,40,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3866
$GC,320,-0.82,-146.6,26.4,-9.3,48,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3866
$GC,511,-0.82,-146.6,44.1,-9.1,66,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3866
$GC,700,-0.82,-146.6,61.6,-9.5,78,704,0.00,2.40,0.00,0.000,4,0.000,0.070,2982,3618,3866
$GC,748,-0.82,-146.6,66.6,-9.6,80,753,0.00,2.30,0.00,0.000,6,0.000,0.044,2982,2224,3866
$GC,1070,-0.82,-146.6,97.1,-9.3,96,1074,0.00,2.38,0.00,0.000,4,0.000,0.069,2982,3617,3866
$GC,1102,-0.82,-146.6,100.3,-9.8,97,1109,0.00,2.30,0.00,0.000,6,0.000,0.044,2982,2217,3866
$GC,1427,-0.82,-146.6,122.3,0.1,128,1431,0.00,2.40,0.00,0.000,4,0.000,0.071,2982,3625,3866
$STATE,1492,end dive,NO_VERTICAL_VELOCITY
$STATE,1492,begin apogee
$GC,1498,-0.23,0.0,122.3,0.0,133,1615,0.75,0.00,112.80,0.799,6,0.081,0.000,3113,2195,3266
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1617,0.82,146.6,122.1,0.0,145,1742,1.38,2.55,115.45,0.763,4,0.078,0.066,3339,3597,2669
$GC,1780,0.82,146.6,112.2,12.7,160,1787,0.00,2.40,0.00,0.000,6,0.000,0.041,3340,2206,2668
$GC,2108,0.82,146.6,72.2,11.5,181,2112,0.00,2.38,0.00,0.000,4,0.000,0.057,3340,792,2668
$GC,2151,0.82,146.6,66.9,12.2,183,2156,0.00,2.35,0.00,0.000,6,0.000,0.047,3340,2197,2668
$GC,2473,0.82,146.6,30.0,10.9,206,2477,0.00,2.38,0.00,0.000,4,0.000,0.056,3340,783,2668
$GC,2500,0.82,146.6,26.9,11.5,208,2504,0.00,2.35,0.00,0.000,6,0.000,0.048,3340,2207,2668
$GC,2704,0.82,146.6,6.4,8.4,238,2710,0.00,2.38,0.00,0.000,4,0.000,0.056,3340,783,2668
$GC,2963,1.09,371.5,6.0,-0.3,284,3042,0.38,2.33,72.38,0.726,2,0.058,0.047,3410,2210,2236
$STATE,3043,end climb,SURFACE_DEPTH_REACHED
$STATE,3043,begin surface coast
$FINISH,1.9,1.018269
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3155,107.43,0.682,0,0,1228,500.17
$SM_GC,1.22,0.00,0.00,107.43,0.000,0.000,0.682,1377,2216,1228,-8.24,-0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,301007,050527
$TT8_MAMPS,0.027612
$HUMID,1887
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,41.7
$24V_AH,24.2,1.403
$10V_AH,10.7,0.588
$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,25.700,38.050,300.625,107.425,0.000,38.178,35.667,97.087,1.000,0.000,0.000,34.732,504.675,1667.259,458.710,692.422,213.699,33.332,825.801,0.000,667.736,0.000,8.510
$DEVICE_MAMPS,180.245,82.836,799.214,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.847,229.033,531.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15900,315
$CFSIZE,260165632,258539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,301007,031751,4806.314,-12222.388,10,1.6,10,18.3