version: 66.02
glider: 128
mission: 2
dive: 162
start: 9 11 107 21 37 51
data:
$ID,128
$MISSION,2
$DIVE,162
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$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,-62429.664
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,212808,4806.671,-12222.609,11,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.3
$GPS2,213650,4806.711,-12222.607,13,1.6,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.103
$KALMAN_X,12592.0,-69.0,6.5,-10938.0,-43.2
$KALMAN_Y,5679.5,137.4,-67.7,-8999.3,290.0
$MHEAD_RNG_PITCHd_Wd,292.9,2942,-10.6,-5.026
$D_GRID,107
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-146.6,0.0,0.0,0,96,0.00,0.00,-71.88,0.000,2,0.000,0.000,14,2236,3386
$GC,98,-0.66,-146.6,3.8,-3.9,13,117,10.65,2.40,-0.25,0.000,4,0.218,0.053,2603,806,3401
$GC,419,-0.66,-146.6,28.5,-5.6,57,427,0.00,2.30,0.00,0.000,6,0.000,0.035,2603,2205,3403
$GC,617,-0.66,-146.6,39.1,-5.3,76,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2207,3403
$GC,808,-0.66,-146.6,48.9,-5.1,94,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2207,3403
$GC,999,-0.66,-146.6,59.1,-5.2,112,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2207,3403
$GC,1318,-0.66,-146.6,75.6,-5.3,142,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2206,3403
$GC,1638,-0.66,-146.6,91.9,-4.9,172,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2207,3404
$STATE,1698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1698,begin apogee
$GC,1703,-0.23,0.0,95.0,5.1,178,1822,0.45,0.00,112.40,0.779,6,0.104,0.000,2746,2127,2799
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1824,0.66,146.6,97.3,0.0,190,1940,0.85,0.00,111.07,0.696,6,0.077,0.000,3028,2127,2202
$GC,2257,0.66,146.6,73.4,5.8,231,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2127,2200
$GC,2576,0.66,146.6,54.8,5.7,261,2580,0.00,2.40,0.00,0.000,4,0.000,0.049,3027,3566,2200
$GC,2620,0.66,146.6,51.9,6.3,265,2625,0.00,2.25,0.00,0.000,6,0.000,0.030,3028,2160,2199
$GC,2947,0.66,146.6,33.9,5.4,295,2951,0.00,2.30,0.00,0.000,4,0.000,0.044,3028,740,2198
$GC,3003,0.66,146.6,30.7,5.3,299,3010,0.00,2.28,0.00,0.000,6,0.000,0.035,3027,2155,2198
$GC,3200,0.66,146.6,20.3,5.2,318,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2155,2198
$GC,3403,0.66,146.6,10.1,5.2,353,3409,0.00,2.30,0.00,0.000,4,0.000,0.050,3027,3557,2198
$GC,3432,0.66,146.6,8.6,5.2,358,3438,0.00,2.25,0.00,0.000,6,0.000,0.031,3028,2138,2198
$GC,3506,0.66,146.6,4.8,5.0,371,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2138,2198
$GC,3580,0.75,221.2,2.9,2.7,384,3615,0.10,0.00,32.47,0.883,2,0.074,0.000,3081,2138,1995
$STATE,3616,end climb,SURFACE_DEPTH_REACHED
$STATE,3616,begin surface coast
$FINISH,0.3,1.022382
$STATE,3712,end surface coast,CONTROL_FINISHED_OK
$STATE,3713,begin surface
$SM_CCo,3729,47.92,0.686,0,0,1576,300.00
$SM_GC,1.32,0.00,0.00,47.92,0.000,0.000,0.686,2,2219,1576,-8.81,0.25,300.00
$IRIDIUM_FIX,4748.51,-12220.12,120907,010147
$TT8_MAMPS,0.026845
$HUMID,1867
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.20
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,80.0,29.4
$24V_AH,24.5,21.406
$10V_AH,10.8,9.233
$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,20.875,18.700,255.950,47.925,0.000,81.621,90.057,203.595,10.000,0.000,0.000,15.118,664.129,2031.076,330.229,809.492,488.850,33.351,729.276,0.000,824.018,0.000,7.042
$DEVICE_MAMPS,217.828,63.661,882.817,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.475,322.552,686.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19086,407
$CFSIZE,260165632,253177856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,224201,4807.101,-12222.998,36,1.5,37,18.3