version: 66.02
glider: 128
mission: 2
dive: 185
start: 9 12 107 23 56 40
data:
$ID,128
$MISSION,2
$DIVE,185
$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,-62941.168
$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,49
$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
$GPS1,235107,4806.956,-12222.933,23,2.0,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.0
$GPS2,235538,4806.965,-12222.952,15,1.5,15,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.123
$KALMAN_X,14072.0,-116.6,-30.7,-12757.0,-64.8
$KALMAN_Y,7265.6,100.9,170.8,-10316.7,176.2
$MHEAD_RNG_PITCHd_Wd,303.3,2314,-10.6,-5.026
$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,19,begin dive
$GC,21,-0.64,-146.6,0.0,0.0,0,89,0.00,0.00,-65.55,0.000,2,0.000,0.000,12,2263,3212
$GC,91,-0.64,-146.6,3.5,-3.3,12,111,10.57,2.38,-3.70,0.000,4,0.214,0.051,2608,852,3400
$GC,414,-0.64,-146.6,28.3,-5.5,56,421,0.00,2.25,0.00,0.000,6,0.000,0.033,2607,2235,3404
$GC,612,-0.64,-146.6,37.9,-4.7,75,616,0.00,2.22,0.00,0.000,4,0.000,0.037,2607,851,3405
$GC,640,-0.64,-146.6,39.4,-5.7,77,644,0.00,2.25,0.00,0.000,6,0.000,0.034,2607,2255,3405
$GC,837,-0.64,-146.6,49.2,-5.0,95,841,0.00,2.30,0.00,0.000,4,0.000,0.049,2607,3655,3405
$GC,864,-0.64,-146.6,50.7,-5.3,97,869,0.00,2.22,0.00,0.000,6,0.000,0.028,2607,2227,3404
$GC,1192,-0.64,-146.6,66.0,-4.8,127,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2226,3405
$GC,1518,-0.64,-146.6,82.1,-4.6,158,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2225,3405
$STATE,1780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1780,begin apogee
$GC,1785,-0.22,0.0,95.2,5.0,183,1903,0.45,0.00,112.05,0.769,6,0.105,0.000,2749,2157,2799
$STATE,1904,end apogee,CONTROL_FINISHED_OK
$STATE,1904,begin climb
$GC,1906,0.64,146.6,97.3,0.0,195,2028,0.82,2.42,110.85,0.701,4,0.079,0.040,3025,766,2201
$GC,2045,0.64,146.6,91.8,5.6,208,2051,0.00,2.30,0.00,0.000,6,0.000,0.031,3025,2149,2201
$GC,2371,0.64,146.6,72.3,5.8,239,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2149,2199
$GC,2688,0.64,146.6,54.7,6.0,269,2692,0.00,2.30,0.00,0.000,4,0.000,0.046,3025,3558,2198
$GC,2886,0.64,146.6,41.9,6.8,286,2892,0.00,2.22,0.00,0.000,6,0.000,0.030,3029,2153,2198
$GC,3082,0.64,146.6,30.4,5.8,305,3086,0.00,2.25,0.00,0.000,4,0.000,0.041,3033,752,2198
$GC,3111,0.64,146.6,28.8,5.7,307,3115,0.00,2.22,0.00,0.000,6,0.000,0.033,3034,2152,2198
$GC,3310,0.64,146.6,17.2,5.7,329,3317,0.00,2.28,0.00,0.000,4,0.000,0.047,3033,3550,2198
$GC,3345,0.64,146.6,15.0,6.1,335,3351,0.00,2.22,0.00,0.000,6,0.000,0.030,3037,2138,2198
$GC,3419,0.64,146.6,11.0,5.3,348,3425,0.00,2.22,0.00,0.000,4,0.000,0.043,3042,750,2197
$GC,3454,0.64,146.6,9.1,5.4,354,3460,0.00,2.22,0.00,0.000,6,0.000,0.033,3042,2156,2198
$GC,3528,0.65,154.2,5.4,4.8,367,3540,0.00,0.00,6.38,0.724,6,0.000,0.000,3042,2156,2170
$GC,3609,0.74,224.8,2.6,2.8,381,3649,0.00,0.00,38.00,0.752,2,0.000,0.000,3042,2156,1929
$STATE,3649,end climb,SURFACE_DEPTH_REACHED
$STATE,3649,begin surface coast
$FINISH,0.3,0.999363
$STATE,3812,end surface coast,CONTROL_FINISHED_OK
$STATE,3812,begin surface
$SM_CCo,3829,39.80,0.699,0,0,1576,300.00
$SM_GC,1.66,0.00,0.00,39.80,0.000,0.000,0.699,11,2270,1576,-8.78,0.59,300.00
$IRIDIUM_FIX,4751.72,-12219.12,130907,020248
$TT8_MAMPS,0.026845
$HUMID,1887
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,46.5
$24V_AH,24.5,23.115
$10V_AH,10.7,10.359
$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,20.500,36.500,267.275,39.800,0.000,40.332,43.405,102.290,0.500,0.000,0.000,17.087,685.421,1970.365,343.353,858.049,307.133,33.349,776.490,0.000,875.529,0.000,2.519
$DEVICE_MAMPS,213.993,88.205,769.301,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.261,328.660,703.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22281,417
$CFSIZE,260165632,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,010225,4807.294,-12223.260,40,1.4,41,18.3