version: 66.02
glider: 128
mission: 2
dive: 84
start: 9 8 107 16 33 15
data:
$ID,128
$MISSION,2
$DIVE,84
$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,-60824.852
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,162415,4807.445,-12223.248,7,1.9,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.1
$GPS2,163215,4807.450,-12223.243,11,1.4,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.107
$KALMAN_X,7035.6,24.7,29.0,-6281.9,37.7
$KALMAN_Y,2508.7,-22.9,-58.3,-4312.0,69.0
$MHEAD_RNG_PITCHd_Wd,290.8,1384,-13.2,-6.000
$D_GRID,105
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,98,0.00,0.00,-76.85,0.000,2,0.000,0.000,8,2163,3321
$GC,100,-0.78,-146.6,3.8,-3.9,14,119,10.57,2.38,-1.42,0.000,4,0.220,0.063,2551,3562,3399
$GC,177,-0.78,-146.6,16.4,-9.2,27,183,0.00,2.33,0.00,0.000,6,0.000,0.031,2551,2134,3400
$GC,249,-0.78,-146.6,21.9,-7.5,38,254,0.00,2.42,0.00,0.000,4,0.000,0.052,2551,3558,3400
$GC,270,-0.78,-146.6,23.4,-6.7,39,278,0.00,2.33,0.00,0.000,6,0.000,0.030,2551,2140,3401
$GC,468,-0.78,-146.6,37.2,-6.7,58,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2140,3401
$GC,659,-0.78,-146.6,50.6,-7.1,76,663,0.00,2.38,0.00,0.000,4,0.000,0.053,2550,3555,3401
$GC,703,-0.78,-146.6,53.7,-7.2,80,707,0.00,2.25,0.00,0.000,6,0.000,0.031,2551,2148,3401
$GC,1029,-0.78,-146.6,75.7,-6.8,110,1033,0.00,2.35,0.00,0.000,4,0.000,0.054,2550,3550,3401
$GC,1095,-0.78,-146.6,80.6,-6.8,115,1102,0.00,2.25,0.00,0.000,6,0.000,0.030,2550,2151,3400
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1242,-0.23,0.0,90.3,6.7,129,1361,0.62,0.00,112.53,0.798,6,0.112,0.000,2745,2065,2800
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1363,0.78,146.6,92.7,0.0,141,1482,1.00,2.40,111.75,0.706,4,0.081,0.048,3075,694,2202
$GC,1504,0.78,146.6,86.2,6.6,154,1511,0.00,2.40,0.00,0.000,6,0.000,0.038,3075,2077,2201
$GC,1829,0.78,146.6,63.5,6.9,185,1833,0.00,2.38,0.00,0.000,4,0.000,0.053,3075,3488,2199
$GC,1936,0.78,146.6,54.8,8.2,194,1940,0.00,2.28,0.00,0.000,6,0.000,0.034,3083,2096,2199
$GC,2260,0.78,146.6,32.4,6.7,224,2264,0.00,2.35,0.00,0.000,4,0.000,0.048,3092,666,2199
$GC,2280,0.78,146.6,31.0,6.6,225,2288,0.00,2.35,0.00,0.000,6,0.000,0.037,3092,2088,2199
$GC,2479,0.78,146.6,18.3,6.2,246,2485,0.00,2.33,0.00,0.000,4,0.000,0.054,3092,3487,2199
$GC,2513,0.78,146.6,15.8,7.0,252,2520,0.00,2.30,0.00,0.000,6,0.000,0.036,3098,2073,2199
$GC,2587,0.78,146.6,11.1,6.4,265,2593,0.00,2.38,0.00,0.000,4,0.000,0.053,3098,3489,2199
$GC,2616,0.78,146.6,9.2,6.6,270,2623,0.12,2.30,0.00,0.000,6,0.142,0.036,3074,2072,2199
$GC,2690,0.82,181.7,5.4,4.9,283,2719,0.00,0.00,26.70,0.875,6,0.000,0.000,3075,2071,2058
$GC,2787,0.97,300.7,2.3,2.2,300,2800,0.15,0.00,10.55,0.799,2,0.058,0.000,3153,2072,2003
$STATE,2801,end climb,SURFACE_DEPTH_REACHED
$STATE,2801,begin surface coast
$FINISH,0.5,1.005501
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2923,68.55,0.693,0,0,1373,350.04
$SM_GC,1.15,0.00,0.00,68.55,0.000,0.000,0.693,15,2169,1373,-8.77,0.54,350.04
$IRIDIUM_FIX,4748.51,-12224.57,080907,202041
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,27.1
$24V_AH,24.3,15.302
$10V_AH,10.8,5.911
$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,21.450,42.375,261.525,68.550,0.000,73.328,177.459,95.859,1.000,0.000,0.000,13.021,539.233,1482.660,372.972,670.144,432.320,33.343,746.290,0.000,680.690,0.000,7.032
$DEVICE_MAMPS,220.129,67.496,875.147,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.675,248.461,541.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,321
$CFSIZE,260165632,255328256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,172351,4807.745,-12223.509,9,2.0,10,18.3