version: 66.02
glider: 128
mission: 2
dive: 159
start: 9 11 107 18 12 53
data:
$ID,128
$MISSION,2
$DIVE,159
$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,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,0.0043390002
$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,-62383.527
$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,39
$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
$GPS1,180355,4805.868,-12221.943,35,1.8,36,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,181134,4805.906,-12221.985,15,2.7,34,18.3
$SPEED_LIMITS,0.047,0.057
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,0.029
$KALMAN_X,12555.5,-61.1,147.3,-10277.2,74.6
$KALMAN_Y,5191.0,55.6,-195.7,-9793.6,79.3
$MHEAD_RNG_PITCHd_Wd,281.7,4609,-36.5,-4.726
$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,-1.68,-15.5,0.0,0.0,0,78,0.00,0.00,-54.50,0.000,6,0.000,0.000,18,2223,2864
$GC,80,-1.70,-31.7,1.9,-1.4,10,99,9.20,2.38,-1.90,0.000,4,0.217,0.053,2265,805,2932
$GC,402,-1.70,-35.5,18.6,-4.0,67,409,0.00,2.28,-0.17,0.000,6,0.000,0.034,2257,2214,2947
$GC,480,-1.70,-35.5,22.3,-5.1,77,484,0.00,2.28,0.00,0.000,4,0.000,0.038,2257,804,2948
$GC,788,-1.70,-35.5,39.2,-5.1,104,795,0.00,2.25,0.00,0.000,6,0.000,0.035,2247,2211,2948
$GC,985,-1.70,-35.5,48.3,-4.7,123,989,0.00,2.28,0.00,0.000,4,0.000,0.038,2247,799,2948
$GC,1294,-1.70,-35.6,62.0,-4.7,150,1298,0.15,2.25,0.00,0.000,6,0.179,0.035,2272,2210,2949
$GC,1618,-1.70,-37.2,75.9,-4.4,180,1622,0.00,2.25,0.00,0.000,4,0.000,0.040,2272,796,2949
$GC,1927,-1.71,-38.3,89.5,-4.5,207,1933,0.00,2.25,0.00,0.000,6,0.000,0.035,2263,2215,2949
$STATE,2058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2058,begin apogee
$GC,2063,-0.23,0.0,95.2,4.2,220,2101,1.62,0.00,29.77,0.941,6,0.154,0.000,2740,2131,2799
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2104,1.71,38.3,95.6,0.0,224,2141,1.83,2.42,30.17,0.712,4,0.076,0.046,3361,3554,2642
$GC,2264,1.71,38.3,80.6,11.4,238,2269,0.00,2.25,0.00,0.000,6,0.000,0.031,3372,2167,2640
$GC,2590,1.71,38.3,48.8,9.3,268,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2167,2640
$GC,2780,1.71,38.3,31.6,9.0,286,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2167,2640
$GC,2976,1.71,38.3,15.5,7.7,309,2982,0.00,2.30,0.00,0.000,4,0.000,0.048,3372,3558,2640
$GC,2988,1.71,38.3,14.5,7.7,311,2994,0.00,2.25,0.00,0.000,6,0.000,0.032,3382,2146,2640
$GC,3062,1.71,38.3,8.9,7.5,324,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2146,2640
$GC,3136,1.71,38.3,4.2,6.4,337,3142,0.00,2.25,0.00,0.000,4,0.000,0.043,3392,747,2640
$GC,3149,1.71,38.3,3.5,5.8,339,3156,0.00,2.25,0.00,0.000,6,0.000,0.035,3392,2151,2640
$GC,3224,1.74,66.4,3.5,-1.1,352,3247,0.00,0.00,21.25,0.881,6,0.000,0.000,3393,2150,2529
$GC,3315,1.76,81.6,2.5,1.6,368,3333,0.00,2.40,9.07,0.793,4,0.000,0.043,3402,732,2467
$STATE,3445,end climb,NO_VERTICAL_VELOCITY
$STATE,3445,begin surface
$SM_CCo,3447,254.27,0.639,0,0,204,636.80
$SM_GC,0.98,9.93,0.00,0.00,0.044,0.000,0.000,17,2220,195,-8.69,0.25,639.01
$IRIDIUM_FIX,4751.72,-12221.84,110907,222224
$TT8_MAMPS,0.026078
$HUMID,1873
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,41.3
$24V_AH,25.1,21.166
$10V_AH,10.8,9.087
$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,22.725,36.975,90.275,254.275,0.000,78.128,67.032,146.917,0.250,0.000,0.000,36.845,715.459,1866.623,420.573,905.822,403.460,33.341,827.864,0.000,898.079,0.000,2.510
$DEVICE_MAMPS,217.061,58.292,941.109,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.853,305.203,659.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19092,391
$CFSIZE,260165632,253259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,191737,4805.979,-12222.218,27,1.0,39,18.3