version: 66.02
glider: 128
mission: 2
dive: 204
start: 9 13 107 21 49 16
data:
$ID,128
$MISSION,2
$DIVE,204
$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,-63352.285
$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,25
$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,49
$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
$GPS1,214339,4806.579,-12222.463,7,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.4
$GPS2,214814,4806.584,-12222.475,9,1.6,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.089
$KALMAN_X,15637.5,-0.0,114.7,-13994.6,-40.1
$KALMAN_Y,9273.7,-99.3,-91.0,-12568.7,396.4
$MHEAD_RNG_PITCHd_Wd,286.4,3230,-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,-0.60,-146.6,0.0,0.0,0,90,0.00,0.00,-66.07,0.000,2,0.000,0.000,17,2267,3233
$GC,92,-0.60,-146.6,3.6,-3.6,12,112,10.55,2.38,-3.38,0.000,4,0.212,0.063,2611,3637,3401
$GC,382,-0.60,-146.6,25.2,-5.8,55,388,0.00,2.22,0.00,0.000,6,0.000,0.028,2611,2222,3405
$GC,579,-0.60,-146.6,35.1,-5.0,74,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2220,3405
$GC,770,-0.60,-146.6,44.9,-5.3,92,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2220,3405
$GC,961,-0.60,-146.6,54.8,-5.3,110,965,0.00,2.35,0.00,0.000,4,0.000,0.049,2611,3639,3405
$GC,1011,-0.60,-146.6,57.5,-5.4,114,1015,0.00,2.17,0.00,0.000,6,0.000,0.028,2611,2242,3405
$GC,1335,-0.60,-146.6,74.8,-5.4,144,1339,0.00,2.30,0.00,0.000,4,0.000,0.049,2611,3637,3405
$GC,1363,-0.60,-146.6,76.3,-5.6,146,1367,0.00,2.17,0.00,0.000,6,0.000,0.028,2611,2236,3405
$GC,1691,-0.60,-146.6,93.0,-4.9,176,1695,0.00,2.17,0.00,0.000,4,0.000,0.039,2611,862,3405
$GC,1720,-0.60,-146.6,94.6,-5.1,178,1724,0.00,2.20,0.00,0.000,6,0.000,0.034,2610,2248,3405
$STATE,1734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1734,begin apogee
$GC,1740,-0.20,0.0,95.4,4.9,179,1857,0.45,0.00,112.93,0.818,6,0.104,0.000,2753,2146,2800
$STATE,1858,end apogee,CONTROL_FINISHED_OK
$STATE,1858,begin climb
$GC,1860,0.60,146.6,97.6,0.0,191,1980,0.77,0.00,111.07,0.693,6,0.078,0.000,3007,2146,2202
$GC,2297,0.60,146.6,76.0,5.4,233,2301,0.00,2.25,0.00,0.000,4,0.000,0.041,3012,769,2199
$GC,2331,0.60,146.6,74.3,5.4,236,2335,0.00,2.25,0.00,0.000,6,0.000,0.032,3012,2160,2200
$GC,2657,0.60,146.6,57.1,5.1,266,2661,0.00,2.30,0.00,0.000,4,0.000,0.046,3011,3562,2199
$GC,2700,0.60,146.6,54.5,5.5,269,2707,0.00,2.25,0.00,0.000,6,0.000,0.030,3017,2167,2199
$GC,3027,0.60,146.6,36.0,5.6,300,3031,0.00,2.30,0.00,0.000,4,0.000,0.046,3017,3561,2198
$GC,3055,0.60,146.6,34.1,6.4,302,3059,0.00,2.25,0.00,0.000,6,0.000,0.030,3024,2144,2198
$GC,3251,0.60,146.6,23.2,5.5,320,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2144,2198
$GC,3450,0.61,155.5,13.3,4.8,349,3462,0.00,0.00,7.93,0.791,6,0.000,0.000,3024,2142,2166
$GC,3530,0.61,155.5,9.2,5.3,363,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2142,2165
$GC,3604,0.64,178.0,5.9,4.3,376,3627,0.00,2.28,18.10,0.861,4,0.000,0.041,3025,748,2073
$GC,3673,0.73,246.6,3.8,2.9,388,3730,0.00,2.28,51.17,0.714,6,0.000,0.032,3025,2159,1794
$STATE,3735,end climb,SURFACE_DEPTH_REACHED
$STATE,3735,begin surface coast
$FINISH,0.3,0.999699
$STATE,3822,end surface coast,CONTROL_FINISHED_OK
$STATE,3822,begin surface
$SM_CCo,3839,28.70,0.710,0,0,1576,300.00
$SM_GC,1.39,0.00,0.00,28.70,0.000,0.000,0.710,15,2261,1576,-8.77,0.31,300.00
$IRIDIUM_FIX,4751.72,-12223.57,140907,000041
$TT8_MAMPS,0.026845
$HUMID,1866
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,42.4
$24V_AH,24.5,24.533
$10V_AH,10.7,11.290
$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,20.450,36.375,301.200,28.700,0.000,38.969,55.849,95.096,0.500,0.000,0.000,16.128,678.389,1990.538,349.540,835.791,313.374,33.349,777.940,0.000,850.216,0.000,2.512
$DEVICE_MAMPS,212.459,65.195,860.574,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,296.828,324.790,698.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22223,414
$CFSIZE,260165632,251961344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,225432,4806.968,-12222.880,11,1.5,12,18.3