version: 66.02
glider: 128
mission: 2
dive: 218
start: 9 14 107 14 38 51
data:
$ID,128
$MISSION,2
$DIVE,218
$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,-63649.676
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,142907,4805.376,-12221.365,29,1.0,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.7
$GPS2,143750,4805.295,-12221.344,9,1.4,9,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.131
$KALMAN_X,17146.6,263.6,-28.6,-14225.9,66.7
$KALMAN_Y,9602.1,-258.1,232.6,-15451.9,-97.3
$MHEAD_RNG_PITCHd_Wd,308.2,5990,-10.6,-5.026
$D_GRID,110
$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,-65.90,0.000,2,0.000,0.000,12,2260,3258
$GC,93,-0.60,-146.6,3.7,-3.6,12,112,10.65,2.35,-2.72,0.000,4,0.215,0.061,2606,3654,3399
$GC,118,-0.60,-146.6,10.8,-16.0,16,125,0.00,2.28,0.00,0.000,6,0.000,0.028,2607,2231,3401
$GC,193,-0.60,-146.6,15.5,-6.0,29,199,0.00,2.22,0.00,0.000,4,0.000,0.038,2607,856,3401
$GC,222,-0.60,-146.6,17.3,-5.9,34,228,0.00,2.28,0.00,0.000,6,0.000,0.034,2607,2255,3402
$GC,295,-0.60,-146.6,21.3,-5.7,45,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2256,3402
$GC,486,-0.60,-146.6,31.1,-5.0,63,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2255,3402
$GC,677,-0.60,-146.6,40.3,-5.1,81,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2255,3403
$GC,869,-0.60,-146.6,49.5,-4.7,99,873,0.00,2.30,0.00,0.000,4,0.000,0.050,2607,3660,3403
$GC,897,-0.60,-146.6,50.9,-5.1,101,903,0.00,2.20,0.00,0.000,6,0.000,0.028,2607,2245,3403
$GC,1223,-0.60,-146.6,67.9,-5.2,132,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2244,3403
$GC,1540,-0.60,-146.6,84.8,-5.4,162,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2244,3403
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1745,-0.20,0.0,95.2,5.1,181,1863,0.47,0.00,111.60,0.769,6,0.103,0.000,2757,2154,2799
$STATE,1864,end apogee,CONTROL_FINISHED_OK
$STATE,1864,begin climb
$GC,1866,0.60,146.6,97.1,0.0,193,1980,0.75,0.00,110.95,0.693,6,0.076,0.000,3007,2154,2202
$GC,2297,0.60,146.6,76.1,5.5,234,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2154,2200
$GC,2615,0.60,146.6,59.0,5.3,264,2619,0.00,2.33,0.00,0.000,4,0.000,0.045,3007,3564,2199
$GC,2644,0.60,146.6,57.3,6.1,266,2650,0.00,2.25,0.00,0.000,6,0.000,0.030,3013,2148,2199
$GC,2969,0.60,146.6,40.0,5.0,297,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2147,2198
$GC,3159,0.60,146.9,30.4,5.0,315,3163,0.00,2.33,0.00,0.000,4,0.000,0.045,3014,3563,2198
$GC,3187,0.60,146.9,29.0,5.1,317,3191,0.00,2.25,0.00,0.000,6,0.000,0.030,3017,2142,2199
$GC,3385,0.62,157.8,20.0,4.7,335,3397,0.00,0.00,9.75,0.816,6,0.000,0.000,3017,2139,2155
$GC,3465,0.64,175.4,16.4,4.5,349,3482,0.00,0.00,14.52,0.813,6,0.000,0.000,3016,2139,2085
$GC,3551,0.66,192.4,12.5,4.5,364,3569,0.00,0.00,14.12,0.724,6,0.000,0.000,3017,2139,2014
$GC,3637,0.68,212.9,8.7,4.4,379,3660,0.00,0.00,16.98,0.711,6,0.000,0.000,3017,2139,1931
$GC,3728,0.77,281.8,5.6,2.9,395,3785,0.15,0.00,51.97,0.675,6,0.058,0.000,3095,2138,1650
$STATE,3800,end climb,SURFACE_DEPTH_REACHED
$STATE,3800,begin surface coast
$FINISH,0.3,1.023819
$STATE,3841,end surface coast,CONTROL_FINISHED_OK
$STATE,3843,begin surface
$SM_CCo,3860,13.05,0.706,0,0,1577,300.00
$SM_GC,1.48,0.00,0.00,13.05,0.000,0.000,0.706,12,2268,1577,-8.78,0.51,300.00
$IRIDIUM_FIX,4748.51,-12220.12,140907,181843
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,51.4
$24V_AH,24.5,25.632
$10V_AH,10.7,12.005
$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,20.900,23.075,329.900,13.050,0.000,74.517,96.312,198.964,0.250,0.000,0.000,11.063,661.726,2111.707,353.202,787.902,504.546,33.355,768.965,0.000,811.631,0.000,2.526
$DEVICE_MAMPS,214.760,62.127,816.088,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,296.787,329.299,700.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19124,415
$CFSIZE,260165632,251564032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,154414,4805.656,-12221.570,8,1.9,14,18.3