version: 66.02
glider: 128
mission: 2
dive: 252
start: 9 16 107 2 27 5
data:
$ID,128
$MISSION,2
$DIVE,252
$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,-65286.316
$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,18
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,022145,4805.312,-12221.212,9,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.5
$GPS2,022602,4805.286,-12221.192,11,1.6,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.141
$KALMAN_X,18094.4,-17.4,-59.2,-14677.4,-30.7
$KALMAN_Y,9649.0,297.5,237.8,-16075.2,-110.8
$MHEAD_RNG_PITCHd_Wd,315.6,6109,-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,-0.77,-146.6,0.0,0.0,0,89,0.00,0.00,-65.07,0.000,2,0.000,0.000,13,2238,3191
$GC,92,-0.77,-146.6,3.1,-3.0,12,111,10.38,2.35,-4.22,0.000,4,0.214,0.054,2563,846,3401
$GC,247,-0.77,-146.6,21.7,-8.5,37,253,0.00,2.33,0.00,0.000,6,0.000,0.037,2563,2251,3404
$GC,444,-0.77,-146.6,36.1,-7.0,56,448,0.00,2.35,0.00,0.000,4,0.000,0.052,2558,3664,3403
$GC,487,-0.77,-146.6,39.2,-7.2,59,494,0.00,2.28,0.00,0.000,6,0.000,0.028,2558,2244,3404
$GC,685,-0.77,-146.6,51.5,-6.1,78,689,0.00,2.38,0.00,0.000,4,0.000,0.051,2551,3665,3404
$GC,713,-0.77,-146.6,53.2,-6.1,80,717,0.00,2.25,0.00,0.000,6,0.000,0.028,2551,2240,3404
$GC,1039,-0.77,-146.6,73.5,-6.4,110,1043,0.00,2.22,0.00,0.000,4,0.000,0.040,2551,844,3404
$GC,1089,-0.77,-146.6,76.9,-6.7,114,1093,0.00,2.28,0.00,0.000,6,0.000,0.038,2551,2256,3405
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1385,-0.28,0.0,95.3,6.4,141,1503,0.55,0.00,111.55,0.754,6,0.110,0.000,2727,2138,2800
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1506,0.77,146.6,97.9,0.0,153,1625,1.02,2.38,110.70,0.700,4,0.079,0.044,3067,779,2201
$GC,1658,0.77,146.6,90.0,7.2,167,1665,0.00,2.33,0.00,0.000,6,0.000,0.035,3068,2141,2201
$GC,1985,0.77,146.6,65.5,7.4,198,1989,0.00,2.38,0.00,0.000,4,0.000,0.051,3067,3562,2200
$GC,2001,0.77,146.6,64.0,7.7,199,2005,0.00,2.25,0.00,0.000,6,0.000,0.031,3076,2172,2199
$GC,2327,0.77,146.6,40.1,7.4,229,2331,0.00,2.33,0.00,0.000,4,0.000,0.044,3081,742,2199
$GC,2348,0.77,146.6,38.2,7.6,230,2354,0.00,2.33,0.00,0.000,6,0.000,0.036,3081,2156,2199
$GC,2545,0.77,146.6,23.9,7.2,249,2549,0.00,2.30,0.00,0.000,4,0.000,0.051,3081,3558,2199
$GC,2568,0.77,146.6,22.2,7.5,251,2572,0.00,2.25,0.00,0.000,6,0.000,0.032,3091,2144,2198
$GC,2776,0.77,146.6,7.5,6.9,285,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2143,2198
$GC,2850,0.77,146.6,3.5,5.1,298,2856,0.00,2.35,0.00,0.000,4,0.000,0.051,3091,3558,2199
$STATE,2883,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$FINISH,0.4,1.012435
$STATE,2929,end surface coast,CONTROL_FINISHED_OK
$STATE,2929,begin surface
$SM_CCo,2949,71.00,0.701,0,0,1576,300.00
$SM_GC,1.28,0.00,0.00,71.00,0.000,0.000,0.701,12,2242,1576,-8.78,-0.23,300.00
$IRIDIUM_FIX,4745.30,-12215.68,160907,050542
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,44.1
$24V_AH,24.5,28.177
$10V_AH,10.7,13.561
$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,20.575,41.575,222.250,71.000,0.000,37.304,41.264,95.400,0.750,0.000,0.000,12.918,531.736,1495.423,332.825,651.712,291.013,33.334,681.044,0.000,661.482,0.000,2.514
$DEVICE_MAMPS,213.993,53.690,753.961,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.438,241.876,526.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,312
$CFSIZE,260165632,250613760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,031837,4805.576,-12221.303,18,1.4,36,18.3