version: 66.02
glider: 128
mission: 2
dive: 137
start: 9 10 107 17 45 39
data:
$ID,128
$MISSION,2
$DIVE,137
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-61985.023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,173945,4807.067,-12222.898,11,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.1
$GPS2,174439,4807.070,-12222.912,11,1.4,11,18.3
$SPEED_LIMITS,0.060,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.116
$KALMAN_X,10863.3,128.3,104.8,-9879.1,33.0
$KALMAN_Y,4003.4,-11.3,-164.4,-6412.7,133.3
$MHEAD_RNG_PITCHd_Wd,293.6,2185,-13.2,-5.970
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-81.97,0.000,2,0.000,0.000,5,2197,3339
$GC,107,-0.78,-146.6,3.1,-2.8,15,126,10.52,2.33,-1.17,0.000,4,0.217,0.055,2563,796,3399
$GC,188,-0.78,-146.6,15.4,-8.6,29,194,0.00,2.35,0.00,0.000,6,0.000,0.038,2563,2220,3400
$GC,262,-0.78,-146.6,20.9,-7.3,41,266,0.00,2.35,0.00,0.000,4,0.000,0.054,2563,3617,3400
$GC,289,-0.78,-146.6,22.9,-7.5,43,294,0.00,2.30,0.00,0.000,6,0.000,0.029,2563,2192,3400
$GC,486,-0.78,-146.6,36.7,-6.7,61,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2191,3400
$GC,678,-0.78,-146.6,49.0,-5.9,79,682,0.00,2.25,0.00,0.000,4,0.000,0.044,2563,805,3400
$GC,709,-0.78,-146.6,51.2,-6.4,81,717,0.00,2.33,0.00,0.000,6,0.000,0.038,2563,2215,3400
$GC,1035,-0.78,-146.6,71.4,-6.2,112,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2215,3400
$GC,1353,-0.78,-146.6,90.9,-6.3,142,1357,0.00,2.33,0.00,0.000,4,0.000,0.055,2560,3627,3400
$GC,1391,-0.78,-146.6,93.2,-6.2,145,1398,0.00,2.28,0.00,0.000,6,0.000,0.031,2559,2211,3400
$STATE,1705,end dive,NO_VERTICAL_VELOCITY
$STATE,1705,begin apogee
$GC,1710,-0.23,0.0,102.3,0.0,175,1827,0.55,0.00,112.03,0.788,6,0.079,0.000,2747,2149,2800
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1830,0.78,146.6,102.3,0.0,187,1950,0.98,2.50,112.05,0.709,4,0.073,0.049,3069,3557,2201
$GC,2021,0.78,146.6,91.5,9.1,205,2029,0.00,2.35,0.00,0.000,6,0.000,0.031,3078,2165,2200
$GC,2350,0.78,146.6,64.9,8.0,236,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2164,2199
$GC,2665,0.78,146.6,39.2,8.1,266,2669,0.00,2.33,0.00,0.000,4,0.000,0.048,3080,744,2199
$GC,2693,0.78,146.6,37.0,8.1,268,2700,0.00,2.28,0.00,0.000,6,0.000,0.036,3081,2154,2199
$GC,2890,0.78,146.6,22.1,7.3,287,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2154,2198
$GC,3090,0.78,146.6,9.0,6.2,320,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2154,2198
$GC,3164,0.80,166.7,5.0,5.3,333,3182,0.00,0.00,15.57,0.851,6,0.000,0.000,3080,2154,2120
$STATE,3231,end climb,SURFACE_DEPTH_REACHED
$STATE,3231,begin surface coast
$FINISH,0.4,1.000207
$STATE,3279,end surface coast,CONTROL_FINISHED_OK
$STATE,3279,begin surface
$SM_CCo,3295,60.00,0.700,0,0,1576,300.00
$SM_GC,1.23,0.00,0.00,60.00,0.000,0.000,0.700,16,2209,1576,-8.76,-0.03,300.00
$IRIDIUM_FIX,4748.51,-12226.29,100907,202012
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,26.4
$24V_AH,24.4,19.463
$10V_AH,10.8,8.046
$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,20.775,28.075,239.650,60.000,0.000,39.274,49.000,130.160,0.250,0.000,0.000,13.781,578.763,1730.747,349.921,701.283,312.652,33.337,713.706,0.000,719.112,0.000,2.490
$DEVICE_MAMPS,217.061,95.875,851.370,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.077,278.523,596.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19071,353
$CFSIZE,260165632,253894656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,184237,4807.369,-12223.230,11,1.3,28,18.3