version: 66.02
glider: 128
mission: 2
dive: 136
start: 9 10 107 16 41 44
data:
$ID,128
$MISSION,2
$DIVE,136
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$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,0.0041149999
$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,-61970.609
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,31
$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
$GPS1,163308,4806.810,-12222.591,31,1.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.4
$GPS2,164045,4806.797,-12222.599,12,1.4,12,18.3
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.110
$KALMAN_X,10839.3,118.4,65.7,-9418.5,99.2
$KALMAN_Y,3891.2,-55.7,-118.2,-6808.2,69.3
$MHEAD_RNG_PITCHd_Wd,292.3,2822,-13.1,-5.970
$D_GRID,107
$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,20,-0.78,-146.6,0.0,0.0,0,109,0.00,0.00,-83.88,0.000,6,0.000,0.000,4,2210,3398
$GC,111,-0.78,-146.6,4.1,-4.6,16,130,10.55,2.40,0.00,0.000,4,0.219,0.041,2560,796,3402
$GC,170,-0.78,-146.6,15.2,-15.3,26,176,0.00,2.33,0.00,0.000,6,0.000,0.036,2555,2208,3403
$GC,249,-0.78,-146.6,21.1,-6.7,39,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2208,3402
$GC,440,-0.78,-146.6,34.3,-6.6,57,444,0.00,2.35,0.00,0.000,4,0.000,0.052,2550,3617,3403
$GC,501,-0.78,-146.6,38.5,-6.6,62,505,0.00,2.28,0.00,0.000,6,0.000,0.028,2551,2191,3403
$GC,698,-0.78,-146.6,51.1,-6.3,80,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2190,3403
$GC,1016,-0.78,-146.6,71.7,-6.4,110,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2190,3403
$GC,1336,-0.78,-146.6,91.6,-6.3,140,1340,0.00,2.38,0.00,0.000,4,0.000,0.051,2551,3618,3403
$GC,1379,-0.78,-146.6,94.6,-7.1,143,1386,0.00,2.25,0.00,0.000,6,0.000,0.029,2551,2212,3403
$STATE,1681,end dive,NO_VERTICAL_VELOCITY
$STATE,1682,begin apogee
$GC,1687,-0.23,0.0,103.6,0.0,172,1805,0.55,0.00,112.38,0.778,6,0.079,0.000,2743,2148,2800
$STATE,1805,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1807,0.78,146.6,103.5,0.0,184,1928,0.98,2.50,112.05,0.707,4,0.073,0.048,3065,3557,2201
$GC,2007,0.78,146.6,92.5,8.4,203,2011,0.00,2.33,0.00,0.000,6,0.000,0.031,3072,2159,2199
$GC,2333,0.78,146.6,67.8,7.4,233,2337,0.00,2.38,0.00,0.000,4,0.000,0.050,3072,3568,2199
$GC,2373,0.78,146.6,64.4,8.3,236,2377,0.00,2.33,0.00,0.000,6,0.000,0.032,3079,2140,2199
$GC,2697,0.78,146.6,39.9,7.3,266,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2140,2198
$GC,2888,0.78,146.6,26.7,6.6,284,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2140,2199
$GC,3084,0.78,146.6,14.1,6.3,310,3090,0.00,2.38,0.00,0.000,4,0.000,0.050,3079,3566,2198
$GC,3113,0.78,146.6,12.1,6.5,315,3120,0.00,2.30,0.00,0.000,6,0.000,0.033,3087,2154,2198
$GC,3187,0.78,146.6,7.3,6.3,328,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2154,2198
$GC,3262,0.78,153.6,3.1,5.7,341,3275,0.00,2.35,5.35,0.669,4,0.000,0.050,3087,3557,2173
$STATE,3290,end climb,SURFACE_DEPTH_REACHED
$STATE,3290,begin surface coast
$FINISH,0.4,1.013188
$STATE,3331,end surface coast,CONTROL_FINISHED_OK
$STATE,3331,begin surface
$SM_CCo,3349,85.65,0.700,0,0,1373,350.04
$SM_GC,1.28,0.00,0.00,85.65,0.000,0.000,0.700,5,2197,1373,-8.80,-0.37,350.04
$IRIDIUM_FIX,4748.51,-12224.57,100907,202034
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,82.2,27.2
$24V_AH,24.4,19.389
$10V_AH,10.8,8.002
$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,20.750,32.800,229.775,85.650,0.000,78.779,151.535,90.961,1.000,0.000,0.000,13.760,585.978,1828.502,374.044,711.485,415.404,33.341,739.751,0.000,724.263,0.000,6.852
$DEVICE_MAMPS,218.595,94.341,777.738,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.557,277.214,595.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15961,353
$CFSIZE,260165632,253923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,173945,4807.067,-12222.898,11,1.2,12,18.3