version: 66.02
glider: 128
mission: 2
dive: 184
start: 9 12 107 22 46 12
data:
$ID,128
$MISSION,2
$DIVE,184
$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,-62923.453
$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,23
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,224008,4806.579,-12222.512,10,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.9
$GPS2,224511,4806.602,-12222.513,9,6.6,28,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.114
$KALMAN_X,14103.6,-71.3,23.3,-12345.8,-89.6
$KALMAN_Y,7252.8,-1.8,40.9,-10745.2,274.2
$MHEAD_RNG_PITCHd_Wd,298.1,3176,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.64,-146.6,0.0,0.0,0,89,0.00,0.00,-65.62,0.000,2,0.000,0.000,6,2270,3155
$GC,91,-0.64,-146.6,3.4,-3.0,12,116,10.73,2.38,-4.72,0.000,4,0.219,0.050,2606,845,3402
$GC,419,-0.64,-146.6,27.4,-5.2,56,423,0.00,2.25,0.00,0.000,6,0.000,0.034,2607,2245,3404
$GC,616,-0.64,-146.6,37.5,-5.5,74,620,0.00,2.25,0.00,0.000,4,0.000,0.038,2606,848,3405
$GC,768,-0.64,-146.6,46.0,-5.4,87,772,0.00,2.25,0.00,0.000,6,0.000,0.034,2606,2255,3405
$GC,964,-0.64,-146.6,55.8,-5.2,105,968,0.00,2.28,0.00,0.000,4,0.000,0.049,2606,3653,3405
$GC,1008,-0.64,-146.6,58.4,-6.0,108,1015,0.00,2.25,0.00,0.000,6,0.000,0.028,2606,2227,3405
$GC,1333,-0.64,-146.6,75.2,-4.9,139,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2226,3405
$GC,1653,-0.64,-146.6,91.1,-5.4,169,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2226,3405
$STATE,1735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1735,begin apogee
$GC,1740,-0.22,0.0,95.2,5.0,177,1858,0.45,0.00,112.03,0.769,6,0.105,0.000,2749,2157,2799
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1860,0.64,146.6,97.3,0.0,189,1975,0.82,0.00,111.12,0.703,6,0.080,0.000,3020,2157,2202
$GC,2292,0.64,146.6,73.5,6.4,230,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2157,2200
$GC,2610,0.64,146.6,54.1,5.9,260,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2157,2199
$GC,2929,0.64,146.6,36.3,5.6,290,2933,0.00,2.28,0.00,0.000,4,0.000,0.044,3020,3552,2199
$GC,2977,0.64,146.6,33.4,5.6,294,2985,0.00,2.25,0.00,0.000,6,0.000,0.029,3025,2153,2199
$GC,3175,0.64,149.9,23.8,4.9,313,3185,0.00,0.00,4.25,0.597,6,0.000,0.000,3025,2150,2187
$GC,3384,0.66,163.3,13.8,4.6,343,3402,0.00,0.00,11.50,0.848,6,0.000,0.000,3025,2150,2133
$GC,3470,0.66,163.3,9.5,5.3,358,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2150,2133
$GC,3544,0.66,163.3,5.4,5.5,371,3550,0.00,2.33,0.00,0.000,4,0.000,0.045,3025,3561,2133
$GC,3590,0.69,186.2,3.6,4.3,379,3614,0.00,2.25,17.67,0.805,6,0.000,0.029,3025,2138,2040
$STATE,3657,end climb,SURFACE_DEPTH_REACHED
$STATE,3657,begin surface coast
$FINISH,0.4,1.011171
$STATE,3754,end surface coast,CONTROL_FINISHED_OK
$STATE,3754,begin surface
$SM_CCo,3771,63.80,0.692,0,0,1577,300.00
$SM_GC,0.98,0.00,0.00,63.80,0.000,0.000,0.692,12,2263,1577,-8.78,0.37,300.00
$IRIDIUM_FIX,4748.51,-12217.40,130907,010135
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,30.5
$24V_AH,24.5,23.042
$10V_AH,10.8,10.308
$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,20.600,22.975,256.575,63.800,0.000,38.733,45.563,115.458,0.750,0.000,0.000,30.687,665.447,1969.113,360.627,849.883,315.622,33.350,765.091,0.000,850.625,0.000,7.042
$DEVICE_MAMPS,219.362,88.972,848.302,691.834,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.277,315.598,688.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19081,408
$CFSIZE,260165632,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,235107,4806.956,-12222.933,23,2.0,24,18.3