version: 66.02
glider: 128
mission: 2
dive: 221
start: 9 14 107 18 35 23
data:
$ID,128
$MISSION,2
$DIVE,221
$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,-64587.812
$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,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
$GPS1,182907,4806.147,-12222.017,110,1.8,111,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.9
$GPS2,183421,4806.149,-12222.037,16,1.9,16,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.120
$KALMAN_X,17427.4,224.7,-73.1,-15282.5,42.5
$KALMAN_Y,9942.1,-204.8,-13.2,-14013.7,24.9
$MHEAD_RNG_PITCHd_Wd,301.7,4199,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.64,-146.6,0.0,0.0,0,90,0.00,0.00,-65.68,0.000,2,0.000,0.000,3,2237,3188
$GC,92,-0.64,-146.6,3.1,-2.8,12,117,10.57,2.42,-4.43,0.000,4,0.213,0.061,2596,3645,3400
$GC,354,-0.64,-146.6,23.8,-5.9,53,358,0.00,2.22,0.00,0.000,6,0.000,0.028,2597,2232,3402
$GC,556,-0.64,-146.6,35.0,-5.4,72,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2231,3403
$GC,747,-0.64,-146.6,45.8,-5.7,90,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2230,3403
$GC,938,-0.64,-146.6,56.1,-5.3,108,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2230,3403
$GC,1257,-0.64,-146.6,72.5,-5.5,138,1261,0.00,2.33,0.00,0.000,4,0.000,0.048,2597,3650,3403
$GC,1289,-0.64,-146.6,74.3,-5.5,140,1296,0.00,2.22,0.00,0.000,6,0.000,0.028,2596,2238,3403
$GC,1614,-0.64,-146.6,91.8,-5.3,171,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2236,3403
$STATE,1675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1676,begin apogee
$GC,1681,-0.22,0.0,95.3,5.3,177,1799,0.47,0.00,111.35,0.757,6,0.104,0.000,2747,2157,2799
$STATE,1799,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1802,0.64,146.6,97.5,0.0,189,1917,0.82,0.00,111.03,0.698,6,0.077,0.000,3020,2157,2202
$GC,2233,0.64,146.6,75.2,5.7,230,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2157,2199
$GC,2551,0.64,146.6,57.5,5.5,260,2555,0.00,2.30,0.00,0.000,4,0.000,0.045,3020,3558,2199
$GC,2601,0.64,146.6,54.5,5.9,264,2608,0.00,2.25,0.00,0.000,6,0.000,0.030,3025,2164,2198
$GC,2929,0.64,146.6,36.3,5.4,295,2933,0.00,2.28,0.00,0.000,4,0.000,0.040,3030,745,2198
$GC,2968,0.64,146.6,34.0,5.7,298,2972,0.00,2.25,0.00,0.000,6,0.000,0.032,3030,2157,2198
$GC,3165,0.64,146.6,23.1,5.4,316,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2157,2198
$GC,3364,0.64,148.6,12.6,5.0,346,3370,0.00,2.28,0.00,0.000,4,0.000,0.048,3030,3554,2198
$GC,3401,0.64,148.6,10.8,5.1,352,3407,0.00,2.22,0.00,0.000,6,0.000,0.031,3037,2138,2198
$GC,3475,0.66,165.1,7.3,4.5,365,3493,0.00,0.00,14.70,0.852,6,0.000,0.000,3037,2137,2126
$GC,3561,0.74,226.5,4.3,3.1,380,3612,0.00,0.00,45.53,0.696,6,0.000,0.000,3037,2137,1876
$STATE,3627,end climb,SURFACE_DEPTH_REACHED
$STATE,3627,begin surface coast
$FINISH,0.3,1.001509
$STATE,3690,end surface coast,CONTROL_FINISHED_OK
$STATE,3690,begin surface
$SM_CCo,3708,38.95,0.683,0,0,1576,300.00
$SM_GC,1.34,0.00,0.00,38.95,0.000,0.000,0.683,17,2265,1576,-8.76,0.42,300.00
$IRIDIUM_FIX,4748.51,-12219.12,140907,212136
$TT8_MAMPS,0.026078
$HUMID,1840
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,34.3
$24V_AH,24.5,25.871
$10V_AH,10.7,12.183
$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,20.550,23.050,282.600,38.950,0.000,37.832,46.912,137.754,1.000,0.000,0.000,17.725,650.174,1950.912,346.131,794.461,341.226,33.347,742.005,0.000,803.648,0.000,7.054
$DEVICE_MAMPS,213.226,72.098,852.137,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.657,315.862,680.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19167,403
$CFSIZE,260165632,251482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,193901,4806.481,-12222.198,34,1.4,35,18.3