version: 66.02
glider: 128
mission: 2
dive: 217
start: 9 14 107 13 20 24
data:
$ID,128
$MISSION,2
$DIVE,217
$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,-63637.984
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,131453,4805.013,-12221.116,21,2.2,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.4
$GPS2,131921,4804.992,-12221.105,9,1.5,9,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.122
$KALMAN_X,17100.0,203.4,-1.7,-13850.9,128.1
$KALMAN_Y,9452.5,-191.3,228.7,-15921.7,-81.1
$MHEAD_RNG_PITCHd_Wd,302.8,6621,-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,18,begin dive
$GC,21,-0.60,-146.6,0.0,0.0,0,83,0.00,0.00,-60.12,0.000,2,0.000,0.000,19,2270,3081
$GC,86,-0.60,-146.6,3.2,-2.9,11,110,10.50,0.00,-6.38,0.000,6,0.210,0.000,2621,2270,3402
$GC,178,-0.60,-146.6,12.2,-3.0,27,185,0.00,2.35,0.00,0.000,4,0.000,0.038,2621,850,3404
$GC,247,-0.60,-146.6,16.8,-7.2,39,254,0.00,2.25,0.00,0.000,6,0.000,0.033,2621,2243,3404
$GC,322,-0.60,-146.6,19.8,-3.2,52,328,0.00,2.35,0.00,0.000,4,0.000,0.049,2619,3657,3405
$GC,357,-0.60,-146.6,20.7,-3.2,57,361,0.00,2.25,0.00,0.000,6,0.000,0.028,2619,2231,3405
$GC,555,-0.60,-146.6,29.8,-3.8,75,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2229,3405
$GC,746,-0.60,-146.6,38.8,-4.6,93,750,0.00,2.38,0.00,0.000,4,0.000,0.048,2618,3654,3406
$GC,796,-0.60,-146.6,41.2,-4.8,97,800,0.00,2.20,0.00,0.000,6,0.000,0.028,2619,2247,3406
$GC,994,-0.60,-146.6,50.7,-4.8,115,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2245,3406
$GC,1312,-0.60,-146.6,65.8,-4.8,145,1316,0.00,2.33,0.00,0.000,4,0.000,0.048,2619,3654,3406
$GC,1344,-0.60,-146.6,67.6,-4.9,147,1351,0.00,2.20,0.00,0.000,6,0.000,0.028,2619,2240,3406
$GC,1669,-0.60,-146.6,82.9,-4.6,178,1673,0.00,2.20,0.00,0.000,4,0.000,0.038,2619,858,3406
$GC,1697,-0.60,-146.6,84.2,-4.8,180,1701,0.00,2.22,0.00,0.000,6,0.000,0.034,2618,2258,3406
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1935,begin apogee
$GC,1940,-0.20,0.0,95.4,4.6,202,2058,0.43,0.00,112.03,0.774,6,0.101,0.000,2754,2140,2800
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2061,0.60,146.6,97.5,0.0,214,2178,0.77,0.00,111.22,0.695,6,0.075,0.000,3010,2140,2201
$GC,2496,0.60,146.6,74.6,5.8,256,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2140,2199
$GC,2815,0.60,146.6,57.4,5.1,286,2819,0.00,2.22,0.00,0.000,4,0.000,0.041,3015,764,2199
$GC,2938,0.60,146.6,50.8,5.1,297,2942,0.00,2.22,0.00,0.000,6,0.000,0.032,3015,2155,2199
$GC,3264,0.60,146.6,33.5,5.1,327,3268,0.00,2.30,0.00,0.000,4,0.000,0.047,3016,3562,2198
$GC,3292,0.60,146.6,31.9,6.0,329,3296,0.00,2.22,0.00,0.000,6,0.000,0.030,3020,2157,2198
$GC,3489,0.60,146.6,21.5,5.1,347,3493,0.00,2.30,0.00,0.000,4,0.000,0.046,3020,3556,2198
$GC,3517,0.60,146.6,19.9,6.3,349,3523,0.00,2.22,0.00,0.000,6,0.000,0.030,3025,2146,2198
$GC,3725,0.62,157.0,9.7,4.7,386,3743,0.00,2.30,9.10,0.798,4,0.000,0.041,3026,748,2159
$GC,3789,0.68,212.8,7.4,3.3,397,3840,0.00,2.25,42.22,0.734,6,0.000,0.033,3026,2156,1930
$GC,3908,0.75,263.4,3.4,3.5,418,3949,0.10,0.12,37.78,0.681,3,0.074,0.067,3076,2257,1726
$STATE,3950,end climb,SURFACE_DEPTH_REACHED
$STATE,3950,begin surface coast
$FINISH,0.4,1.001171
$STATE,4018,end surface coast,CONTROL_FINISHED_OK
$STATE,4018,begin surface
$SM_CCo,4036,22.05,0.693,0,0,1577,300.00
$SM_GC,1.08,0.00,0.00,22.05,0.000,0.000,0.693,12,2260,1577,-8.78,0.28,300.00
$IRIDIUM_FIX,4745.30,-12222.84,140907,161613
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,52.2
$24V_AH,24.5,25.543
$10V_AH,10.7,11.952
$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,20.625,41.050,312.350,22.050,0.000,41.027,44.668,98.916,0.750,0.000,0.000,10.667,709.545,2096.594,368.450,859.278,316.610,33.357,808.142,0.000,882.603,0.000,2.526
$DEVICE_MAMPS,210.158,66.729,798.447,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.189,341.392,737.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22315,437
$CFSIZE,260165632,251588608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,142907,4805.376,-12221.365,29,1.0,30,18.3