version: 66.02
glider: 128
mission: 2
dive: 78
start: 9 8 107 10 41 21
data:
$ID,128
$MISSION,2
$DIVE,78
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,350
$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,-60713.352
$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,22
$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,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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
$GPS1,103603,4806.154,-12221.883,12,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.0
$GPS2,104021,4806.133,-12221.875,11,1.6,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.117
$KALMAN_X,6685.9,-13.8,-42.0,-4132.6,58.5
$KALMAN_Y,2086.2,12.9,72.2,-6491.2,60.5
$MHEAD_RNG_PITCHd_Wd,295.1,4342,-13.2,-6.000
$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,20,-0.78,-146.6,0.0,0.0,0,95,0.00,0.00,-72.28,0.000,2,0.000,0.000,5,2166,3216
$GC,97,-0.78,-146.6,3.6,-3.9,13,115,10.57,0.00,-3.65,0.000,6,0.219,0.000,2564,2166,3401
$GC,182,-0.78,-146.6,14.8,-7.4,28,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2166,3403
$GC,255,-0.78,-146.6,19.6,-6.5,41,262,0.00,2.35,0.00,0.000,4,0.000,0.055,2563,3549,3403
$GC,282,-0.78,-146.6,21.5,-6.5,44,290,0.00,2.30,0.00,0.000,6,0.000,0.030,2563,2142,3404
$GC,480,-0.78,-146.6,34.2,-6.2,63,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2141,3404
$GC,671,-0.78,-146.6,46.4,-6.5,81,675,0.00,2.35,0.00,0.000,4,0.000,0.053,2563,3549,3404
$GC,716,-0.78,-146.6,49.2,-6.4,85,720,0.00,2.25,0.00,0.000,6,0.000,0.031,2563,2139,3404
$GC,912,-0.78,-146.6,61.9,-6.5,103,916,0.00,2.38,0.00,0.000,4,0.000,0.054,2563,3556,3404
$GC,945,-0.78,-146.6,64.0,-6.7,106,949,0.00,2.25,0.00,0.000,6,0.000,0.030,2563,2141,3404
$GC,1268,-0.78,-146.6,85.1,-6.3,136,1273,0.00,2.38,0.00,0.000,4,0.000,0.054,2562,3559,3404
$GC,1323,-0.78,-146.6,88.9,-6.8,140,1330,0.00,2.25,0.00,0.000,6,0.000,0.030,2562,2156,3404
$STATE,1349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1349,begin apogee
$GC,1354,-0.23,0.0,90.5,6.3,143,1472,0.57,0.00,113.60,0.840,6,0.112,0.000,2741,2067,2799
$STATE,1473,end apogee,CONTROL_FINISHED_OK
$STATE,1473,begin climb
$GC,1475,0.78,146.6,93.0,0.0,155,1591,1.00,0.00,111.68,0.693,6,0.082,0.000,3064,2067,2202
$GC,1906,0.78,146.6,66.9,7.0,196,1910,0.00,2.40,0.00,0.000,4,0.000,0.051,3065,3488,2200
$GC,1972,0.78,146.6,62.0,7.6,202,1977,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,2095,2199
$GC,2297,0.78,146.6,40.7,6.2,232,2301,0.00,2.33,0.00,0.000,4,0.000,0.051,3068,3481,2199
$GC,2317,0.78,146.6,39.2,6.6,233,2324,0.00,2.30,0.00,0.000,6,0.000,0.034,3069,2080,2199
$GC,2515,0.78,146.6,27.2,6.1,252,2518,0.00,2.35,0.00,0.000,4,0.000,0.052,3069,3485,2199
$GC,2542,0.78,146.6,25.5,6.7,254,2548,0.00,2.28,0.00,0.000,6,0.000,0.035,3074,2075,2199
$GC,2745,0.80,163.4,13.9,5.5,282,2768,0.00,2.45,13.93,0.842,4,0.000,0.051,3074,3488,2132
$GC,2780,0.82,175.9,11.9,5.6,288,2798,0.00,2.30,11.15,0.817,6,0.000,0.035,3074,2079,2082
$GC,2865,0.84,194.6,7.1,5.4,303,2889,0.00,2.40,15.50,0.837,4,0.000,0.048,3074,672,2006
$GC,2929,0.89,232.4,4.0,4.8,314,2964,0.00,2.33,29.58,0.839,6,0.000,0.036,3075,2078,1851
$STATE,2979,end climb,SURFACE_DEPTH_REACHED
$STATE,2979,begin surface coast
$FINISH,0.4,1.014474
$STATE,3043,end surface coast,CONTROL_FINISHED_OK
$STATE,3043,begin surface
$SM_CCo,3059,59.38,0.734,0,0,1373,350.04
$SM_GC,1.26,0.00,0.00,59.38,0.000,0.000,0.734,13,2169,1373,-8.77,0.54,350.04
$IRIDIUM_FIX,4751.72,-12226.29,080907,131354
$TT8_MAMPS,0.026078
$HUMID,1824
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,53.4
$24V_AH,24.4,14.784
$10V_AH,10.8,5.658
$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,21.000,42.125,295.425,59.375,0.000,40.087,48.354,98.703,0.250,0.000,0.000,12.789,551.757,1503.707,391.009,681.114,274.054,33.336,775.655,0.000,695.985,0.000,2.524
$DEVICE_MAMPS,218.595,69.030,842.166,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.535,259.922,563.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15975,334
$CFSIZE,260165632,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,113423,4806.386,-12222.124,9,4.1,29,18.3