version: 66.02
glider: 128
mission: 2
dive: 157
start: 9 11 107 15 54 22
data:
$ID,128
$MISSION,2
$DIVE,157
$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,-62334.582
$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,41
$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
$GPS1,154845,4805.467,-12221.369,11,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.8
$GPS2,155320,4805.476,-12221.393,14,1.8,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.102
$KALMAN_X,12661.2,-144.8,-55.8,-9368.8,173.7
$KALMAN_Y,5063.1,-44.8,3.3,-10560.3,14.7
$MHEAD_RNG_PITCHd_Wd,292.4,5679,-10.6,-5.026
$D_GRID,110
$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,-0.66,-146.6,0.0,0.0,0,89,0.00,0.00,-66.07,0.000,2,0.000,0.000,17,2213,3237
$GC,91,-0.66,-146.6,3.7,-3.8,12,111,10.60,2.38,-3.22,0.000,4,0.217,0.053,2597,809,3402
$GC,413,-0.66,-146.6,28.8,-6.0,56,421,0.00,2.30,0.00,0.000,6,0.000,0.036,2597,2209,3404
$GC,611,-0.66,-146.6,39.5,-5.5,75,615,0.00,2.28,0.00,0.000,4,0.000,0.040,2597,806,3404
$GC,818,-0.66,-146.6,51.4,-5.7,93,822,0.00,2.28,0.00,0.000,6,0.000,0.036,2597,2219,3405
$GC,1145,-0.66,-146.6,68.6,-5.6,123,1149,0.00,2.30,0.00,0.000,4,0.000,0.051,2596,3620,3405
$GC,1176,-0.66,-146.6,70.6,-5.7,125,1183,0.00,2.25,0.00,0.000,6,0.000,0.028,2596,2205,3405
$GC,1504,-0.66,-146.6,88.7,-5.4,156,1508,0.00,2.35,0.00,0.000,4,0.000,0.051,2595,3624,3404
$GC,1542,-0.66,-146.6,91.0,-5.8,159,1547,0.00,2.22,0.00,0.000,6,0.000,0.028,2595,2203,3405
$STATE,1622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1622,begin apogee
$GC,1627,-0.23,0.0,95.4,5.5,166,1744,0.45,0.00,112.68,0.785,6,0.107,0.000,2742,2200,2800
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1745,begin climb
$GC,1747,0.66,146.6,97.9,0.0,178,1864,0.88,0.00,111.82,0.694,6,0.081,0.000,3026,2200,2202
$GC,2182,0.66,146.6,74.7,5.7,220,2186,0.00,2.38,0.00,0.000,4,0.000,0.042,3031,759,2199
$GC,2204,0.66,146.6,73.4,5.9,222,2207,0.00,2.28,0.00,0.000,6,0.000,0.035,3031,2158,2200
$GC,2534,0.66,146.6,53.5,5.8,253,2538,0.00,2.30,0.00,0.000,4,0.000,0.048,3031,3555,2199
$GC,2573,0.66,146.6,50.8,6.8,256,2577,0.00,2.22,0.00,0.000,6,0.000,0.031,3033,2157,2199
$GC,2903,0.66,146.6,31.5,5.6,287,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2157,2199
$GC,3093,0.66,146.6,20.4,5.5,305,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2157,2199
$GC,3297,0.66,146.6,9.1,5.7,340,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2157,2198
$GC,3371,0.66,149.9,5.2,4.9,353,3384,0.00,2.33,3.28,0.479,4,0.000,0.043,3034,749,2188
$GC,3424,0.70,179.9,3.2,4.1,362,3453,0.00,2.25,22.77,0.877,6,0.000,0.035,3034,2156,2066
$STATE,3480,end climb,SURFACE_DEPTH_REACHED
$STATE,3480,begin surface coast
$FINISH,0.3,1.011091
$STATE,3588,end surface coast,CONTROL_FINISHED_OK
$STATE,3588,begin surface
$SM_CCo,3604,59.10,0.723,0,0,1577,300.00
$SM_GC,0.99,0.00,0.00,59.10,0.000,0.000,0.723,10,2217,1577,-8.78,0.20,300.00
$IRIDIUM_FIX,4748.51,-12217.40,110907,181810
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,50.5
$24V_AH,24.4,21.013
$10V_AH,10.8,8.987
$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,20.550,32.175,250.550,59.100,0.000,41.266,49.524,103.446,0.750,0.000,0.000,16.090,650.936,1851.359,352.595,806.424,302.141,33.341,747.937,0.000,821.492,0.000,2.523
$DEVICE_MAMPS,217.061,82.836,876.681,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.007,307.346,659.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19097,391
$CFSIZE,260165632,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,165633,4805.638,-12221.626,32,1.5,33,18.3