version: 66.02
glider: 128
mission: 2
dive: 291
start: 9 17 107 16 27 33
data:
$ID,128
$MISSION,2
$DIVE,291
$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,-66170.172
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,162121,4804.919,-12221.176,8,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.7
$GPS2,162632,4804.885,-12221.194,13,1.5,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.109
$KALMAN_X,21010.8,-161.2,-321.9,-17185.7,219.9
$KALMAN_Y,11580.9,27.0,433.1,-18670.1,-63.8
$MHEAD_RNG_PITCHd_Wd,295.5,6731,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,140,0.00,0.00,-113.10,0.000,2,0.000,0.000,13,2242,3152
$GC,143,-0.77,-146.6,3.2,-3.1,21,168,10.23,2.42,-5.40,0.000,4,0.207,0.064,2559,3646,3401
$GC,320,-0.77,-146.6,18.5,-6.0,52,326,0.00,2.25,0.00,0.000,6,0.000,0.028,2559,2232,3403
$GC,397,-0.77,-146.6,23.2,-6.0,61,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3403
$GC,588,-0.77,-146.6,35.2,-6.1,79,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2232,3404
$GC,779,-0.77,-146.6,47.2,-6.5,97,783,0.00,2.22,0.00,0.000,4,0.000,0.042,2560,844,3404
$GC,801,-0.77,-146.6,48.7,-6.4,98,807,0.00,2.28,0.00,0.000,6,0.000,0.038,2559,2254,3405
$GC,998,-0.77,-146.6,61.2,-6.3,117,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2255,3405
$GC,1317,-0.77,-146.6,81.0,-6.4,147,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2254,3405
$STATE,1538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1544,-0.28,0.0,95.2,6.3,168,1661,0.50,0.00,111.30,0.746,6,0.106,0.000,2724,2143,2799
$STATE,1662,end apogee,CONTROL_FINISHED_OK
$STATE,1662,begin climb
$GC,1664,0.77,146.6,97.8,0.0,180,1781,1.02,2.45,109.93,0.686,4,0.077,0.047,3066,758,2201
$GC,1816,0.77,146.6,90.4,7.2,194,1820,0.00,2.35,0.00,0.000,6,0.000,0.037,3067,2148,2201
$GC,2142,0.77,146.6,65.3,7.5,224,2146,0.00,2.35,0.00,0.000,4,0.000,0.051,3067,3557,2199
$GC,2204,0.77,146.6,59.9,8.9,229,2208,0.00,2.25,0.00,0.000,6,0.000,0.032,3076,2170,2199
$GC,2531,0.77,146.6,34.7,7.3,259,2535,0.00,2.33,0.00,0.000,4,0.000,0.048,3085,746,2198
$GC,2564,0.77,146.6,32.0,7.5,261,2571,0.00,2.28,0.00,0.000,6,0.000,0.036,3084,2155,2199
$GC,2764,0.77,146.6,17.2,7.5,283,2770,0.00,2.33,0.00,0.000,4,0.000,0.051,3084,3567,2198
$GC,2804,0.77,146.6,13.9,8.0,290,2811,0.00,2.28,0.00,0.000,6,0.000,0.033,3094,2147,2198
$GC,2880,0.77,146.6,8.2,7.7,303,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2147,2198
$GC,2954,0.77,146.6,3.9,5.5,316,2960,0.00,2.28,0.00,0.000,4,0.000,0.048,3096,746,2198
$GC,2968,0.77,148.6,3.4,5.0,318,2975,0.00,2.28,0.00,0.000,6,0.000,0.037,3096,2158,2198
$STATE,3007,end climb,SURFACE_DEPTH_REACHED
$STATE,3007,begin surface coast
$FINISH,1.6,1.023591
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3089,73.22,0.697,0,0,1576,300.00
$SM_GC,1.45,0.00,0.00,73.22,0.000,0.000,0.697,23,2271,1576,-8.74,0.59,300.00
$IRIDIUM_FIX,4748.51,-12217.40,170907,191909
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,50.2
$24V_AH,24.6,30.940
$10V_AH,10.7,15.192
$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,20.475,32.625,221.225,73.225,0.000,41.187,46.234,132.238,0.250,0.000,0.000,14.939,551.270,1551.773,367.875,680.387,346.371,33.327,736.788,0.000,692.143,0.000,2.527
$DEVICE_MAMPS,207.090,64.428,745.524,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.377,258.177,567.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15950,336
$CFSIZE,260165632,249544704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,172123,4805.170,-12221.462,10,3.0,30,18.3