version: 66.02
glider: 128
mission: 2
dive: 80
start: 9 8 107 12 35 50
data:
$ID,128
$MISSION,2
$DIVE,80
$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,-60765.945
$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,35
$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
$GPS1,123031,4806.571,-12222.340,40,1.0,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.7
$GPS2,123450,4806.552,-12222.351,9,1.0,14,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.122
$KALMAN_X,6853.3,-3.7,-65.8,-4873.4,76.0
$KALMAN_Y,2153.1,9.7,88.5,-5795.1,-2.4
$MHEAD_RNG_PITCHd_Wd,297.8,3368,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.78,-146.6,0.0,0.0,0,100,0.00,0.00,-76.82,0.000,2,0.000,0.000,11,2164,3300
$GC,102,-0.78,-146.6,3.7,-3.9,14,121,10.52,2.38,-2.00,0.000,4,0.218,0.064,2556,3557,3400
$GC,228,-0.78,-146.6,18.4,-7.2,36,235,0.00,2.33,0.00,0.000,6,0.000,0.031,2556,2138,3401
$GC,304,-0.78,-146.6,23.7,-6.9,45,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2138,3402
$GC,495,-0.78,-146.6,36.9,-7.1,63,500,0.00,2.40,0.00,0.000,4,0.000,0.054,2556,3557,3402
$GC,538,-0.78,-146.6,40.0,-7.4,66,546,0.00,2.30,0.00,0.000,6,0.000,0.030,2556,2141,3402
$GC,736,-0.78,-146.6,53.4,-6.7,85,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2140,3402
$GC,1055,-0.78,-146.6,74.5,-6.5,115,1059,0.00,2.38,0.00,0.000,4,0.000,0.053,2555,3560,3402
$GC,1105,-0.78,-146.6,77.8,-6.5,119,1109,0.00,2.25,0.00,0.000,6,0.000,0.030,2554,2143,3402
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1293,-0.23,0.0,90.1,6.8,136,1412,0.60,0.00,114.07,0.881,6,0.112,0.000,2741,2066,2800
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,0.78,146.6,92.6,0.0,148,1534,1.00,2.40,111.68,0.702,4,0.083,0.046,3068,694,2201
$GC,1573,0.78,146.6,85.0,7.3,163,1577,0.00,2.35,0.00,0.000,6,0.000,0.037,3068,2076,2201
$GC,1898,0.78,146.6,62.2,6.6,193,1902,0.00,2.38,0.00,0.000,4,0.000,0.053,3068,3485,2200
$GC,1941,0.78,146.6,58.8,7.5,196,1948,0.00,2.30,0.00,0.000,6,0.000,0.034,3069,2098,2199
$GC,2266,0.78,146.6,37.0,6.5,227,2271,0.00,2.35,0.00,0.000,4,0.000,0.053,3069,3493,2199
$GC,2287,0.78,146.6,35.4,7.1,228,2294,0.00,2.33,0.00,0.000,6,0.000,0.035,3077,2079,2199
$GC,2485,0.78,146.6,22.7,6.2,247,2489,0.00,2.35,0.00,0.000,4,0.000,0.053,3077,3485,2199
$GC,2512,0.78,146.6,20.9,6.9,249,2518,0.00,2.28,0.00,0.000,6,0.000,0.035,3081,2076,2198
$GC,2718,0.78,146.6,7.7,6.4,285,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2075,2198
$GC,2791,0.80,159.3,3.5,5.6,298,2804,0.00,0.00,9.77,0.808,6,0.000,0.000,3081,2076,2150
$STATE,2836,end climb,SURFACE_DEPTH_REACHED
$STATE,2836,begin surface coast
$FINISH,0.4,1.001028
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2921,91.55,0.771,0,0,1373,350.04
$SM_GC,1.27,0.00,0.00,91.55,0.000,0.000,0.771,6,2169,1373,-8.80,0.57,350.04
$IRIDIUM_FIX,4748.51,-12220.12,080907,151546
$TT8_MAMPS,0.026845
$HUMID,1854
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,53.0
$24V_AH,24.3,14.952
$10V_AH,10.8,5.741
$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,20.850,32.975,235.525,91.550,0.000,40.468,45.951,97.967,0.250,0.000,0.000,15.838,533.928,1465.339,370.808,659.723,267.049,33.342,721.320,0.000,669.100,0.000,2.525
$DEVICE_MAMPS,217.828,75.933,880.516,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.346,243.373,536.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,318
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,132645,4806.781,-12222.535,7,1.5,8,18.3