version: 66.02
glider: 128
mission: 2
dive: 155
start: 9 11 107 13 40 28
data:
$ID,128
$MISSION,2
$DIVE,155
$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,-62305.336
$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,40
$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
$GPS1,133505,4804.950,-12221.077,6,3.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.5
$GPS2,133926,4804.960,-12221.074,14,1.5,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.121
$KALMAN_X,12355.8,-76.1,-140.4,-8650.1,66.9
$KALMAN_Y,4926.3,-128.0,213.4,-11502.6,22.8
$MHEAD_RNG_PITCHd_Wd,302.3,6691,-10.6,-5.026
$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,21,-0.66,-146.6,0.0,0.0,0,138,0.00,0.00,-114.75,0.000,2,0.000,0.000,16,2215,3152
$GC,141,-0.66,-146.6,3.2,-2.8,21,166,10.43,2.38,-5.05,0.000,4,0.211,0.054,2598,805,3402
$GC,372,-0.66,-146.6,21.7,-5.5,59,380,0.00,2.30,0.00,0.000,6,0.000,0.034,2597,2207,3404
$GC,570,-0.66,-146.6,32.1,-5.6,78,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3405
$GC,761,-0.66,-146.6,42.9,-5.4,96,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3405
$GC,952,-0.66,-146.6,53.3,-5.1,114,956,0.00,2.28,0.00,0.000,4,0.000,0.039,2597,797,3405
$GC,984,-0.66,-146.6,55.0,-5.4,116,991,0.00,2.30,0.00,0.000,6,0.000,0.035,2597,2212,3405
$GC,1311,-0.66,-146.6,72.4,-5.3,147,1315,0.00,2.30,0.00,0.000,4,0.000,0.051,2593,3616,3405
$GC,1350,-0.66,-146.6,74.8,-5.9,150,1354,0.00,2.22,0.00,0.000,6,0.000,0.028,2593,2192,3405
$GC,1676,-0.66,-146.6,92.0,-5.5,180,1680,0.00,2.35,0.00,0.000,4,0.000,0.051,2593,3613,3405
$GC,1727,-0.66,-146.6,94.9,-5.8,184,1731,0.00,2.17,0.00,0.000,6,0.000,0.028,2593,2208,3405
$STATE,1736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1736,begin apogee
$GC,1740,-0.23,0.0,95.6,5.5,185,1860,0.47,0.00,113.45,0.828,6,0.107,0.000,2742,2206,2799
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1862,0.66,146.6,98.0,0.0,197,1980,0.90,0.00,111.72,0.688,6,0.079,0.000,3031,2205,2201
$GC,2298,0.66,146.6,73.5,6.2,239,2301,0.00,2.25,0.00,0.000,4,0.000,0.048,3031,3553,2199
$GC,2320,0.66,146.6,71.9,6.7,241,2324,0.00,2.25,0.00,0.000,6,0.000,0.030,3037,2157,2199
$GC,2650,0.66,146.6,51.9,6.0,272,2654,0.00,2.33,0.00,0.000,4,0.000,0.048,3037,3552,2198
$GC,2681,0.66,146.6,49.5,7.3,274,2689,0.00,2.28,0.00,0.000,6,0.000,0.030,3037,2148,2198
$GC,2879,0.66,146.6,37.6,6.1,293,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2148,2199
$GC,3070,0.66,146.6,25.6,6.2,311,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2148,2198
$GC,3267,0.66,146.6,14.2,5.6,338,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2147,2198
$GC,3340,0.66,146.6,10.3,5.3,351,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2148,2198
$GC,3414,0.66,146.6,6.5,5.2,364,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2148,2198
$GC,3487,0.75,219.2,4.1,2.8,377,3549,0.00,2.45,53.40,0.821,4,0.000,0.048,3038,3552,1906
$STATE,3576,end climb,SURFACE_DEPTH_REACHED
$STATE,3576,begin surface coast
$FINISH,1.3,1.024250
$STATE,3600,end surface coast,CONTROL_FINISHED_OK
$STATE,3601,begin surface
$SM_CCo,3620,37.92,0.675,0,0,1577,300.00
$SM_GC,1.13,0.00,0.00,37.92,0.000,0.000,0.675,14,2200,1577,-8.77,-0.31,300.00
$IRIDIUM_FIX,4745.30,-12220.12,110907,161608
$TT8_MAMPS,0.026845
$HUMID,1850
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,43.8
$24V_AH,24.5,20.860
$10V_AH,10.8,8.891
$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,20.625,32.075,278.575,37.925,0.000,37.159,48.022,96.261,0.500,0.000,0.000,15.466,628.712,1854.414,396.843,777.111,287.813,33.332,804.656,0.000,794.134,0.000,2.517
$DEVICE_MAMPS,210.925,53.690,828.360,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.669,310.125,669.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19024,397
$CFSIZE,260165632,253378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,144237,4805.217,-12221.323,36,1.0,37,18.3