version: 66.02
glider: 128
mission: 2
dive: 181
start: 9 12 107 18 58 27
data:
$ID,128
$MISSION,2
$DIVE,181
$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,-62843.07
$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,27
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,48
$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
$GPS1,184537,4805.483,-12221.260,26,1.6,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.2
$GPS2,185726,4805.527,-12221.259,12,1.6,29,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.102
$KALMAN_X,14178.5,53.3,24.2,-10995.5,83.3
$KALMAN_Y,6981.5,-282.8,-241.8,-11903.0,112.4
$MHEAD_RNG_PITCHd_Wd,292.2,5697,-10.6,-5.026
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.57,-146.6,0.0,0.0,0,89,0.00,0.00,-65.60,0.000,2,0.000,0.000,5,2268,3244
$GC,91,-0.57,-146.6,3.5,-3.4,12,111,10.70,2.40,-3.22,0.000,4,0.214,0.050,2631,844,3401
$GC,413,-0.57,-146.6,24.5,-5.0,61,420,0.00,2.28,0.00,0.000,6,0.000,0.034,2632,2243,3404
$GC,611,-0.57,-146.6,33.9,-4.7,80,615,0.00,2.25,0.00,0.000,4,0.000,0.038,2632,844,3404
$GC,684,-0.57,-146.6,37.6,-4.9,86,688,0.00,2.25,0.00,0.000,6,0.000,0.034,2632,2253,3404
$GC,886,-0.57,-146.6,46.8,-4.5,105,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2254,3404
$GC,1078,-0.57,-146.6,55.5,-4.5,123,1082,0.00,2.28,0.00,0.000,4,0.000,0.049,2632,3655,3404
$GC,1106,-0.57,-146.6,56.7,-5.0,125,1110,0.00,2.22,0.00,0.000,6,0.000,0.028,2632,2227,3404
$GC,1431,-0.57,-146.6,70.8,-4.5,155,1435,0.00,2.35,0.00,0.000,4,0.000,0.048,2632,3654,3404
$GC,1470,-0.57,-146.6,72.6,-4.8,158,1475,0.00,2.20,0.00,0.000,6,0.000,0.028,2632,2234,3405
$GC,1796,-0.57,-146.6,87.1,-4.4,188,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2232,3404
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1989,-0.19,0.0,95.3,4.1,206,2107,0.40,0.00,111.62,0.765,6,0.104,0.000,2759,2151,2800
$STATE,2108,end apogee,CONTROL_FINISHED_OK
$STATE,2108,begin climb
$GC,2110,0.57,146.6,97.0,0.0,218,2228,0.75,0.00,111.45,0.699,6,0.078,0.000,3000,2150,2201
$GC,2545,0.57,146.6,75.3,5.4,260,2549,0.00,2.33,0.00,0.000,4,0.000,0.044,3000,3553,2199
$GC,2574,0.57,146.6,73.6,6.0,262,2580,0.00,2.22,0.00,0.000,6,0.000,0.029,3007,2159,2199
$GC,2899,0.57,147.2,55.6,5.0,293,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2158,2198
$GC,3216,0.57,147.2,38.9,5.1,323,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2158,2198
$GC,3407,0.57,147.2,28.9,5.4,341,3411,0.00,2.28,0.00,0.000,4,0.000,0.042,3009,747,2198
$GC,3435,0.57,147.2,27.5,5.0,343,3439,0.00,2.22,0.00,0.000,6,0.000,0.032,3009,2152,2198
$GC,3636,0.57,147.2,16.9,5.2,366,3642,0.00,2.28,0.00,0.000,4,0.000,0.046,3009,3554,2198
$GC,3681,0.57,147.2,14.3,5.7,374,3688,0.00,2.22,0.00,0.000,6,0.000,0.030,3012,2145,2198
$GC,3756,0.57,147.9,10.5,5.0,387,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2144,2198
$GC,3831,0.58,154.7,7.0,4.8,400,3842,0.00,0.00,7.12,0.750,6,0.000,0.000,3012,2144,2169
$GC,3910,0.62,182.9,3.5,4.2,414,3934,0.00,0.00,21.35,0.815,6,0.000,0.000,3011,2143,2054
$STATE,3955,end climb,SURFACE_DEPTH_REACHED
$STATE,3955,begin surface coast
$FINISH,0.8,1.023834
$STATE,4024,end surface coast,CONTROL_FINISHED_OK
$STATE,4024,begin surface
$SM_CCo,4041,52.72,0.689,0,0,1577,300.00
$SM_GC,1.19,0.00,0.00,52.72,0.000,0.000,0.689,15,2268,1577,-8.77,0.51,300.00
$IRIDIUM_FIX,4751.72,-12214.67,120907,222211
$TT8_MAMPS,0.026845
$HUMID,1848
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.3,42.4
$24V_AH,24.5,22.805
$10V_AH,10.8,10.150
$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,20.425,32.025,251.550,52.725,0.000,115.936,137.034,217.674,1.250,0.000,0.000,31.078,715.019,2278.788,352.461,870.578,609.668,33.367,767.112,0.000,874.449,0.000,3.532
$DEVICE_MAMPS,213.993,72.098,814.554,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.968,343.565,732.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22257,434
$CFSIZE,260165632,252620800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,200752,4805.861,-12221.665,15,2.2,35,18.3