version: 66.02
glider: 128
mission: 2
dive: 36
start: 9 6 107 20 4 23
data:
$ID,128
$MISSION,2
$DIVE,36
$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,50
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,-59852.656
$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,17
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,29
$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
$GPS1,195909,4807.274,-12223.186,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.7
$GPS2,200329,4807.246,-12223.181,11,3.2,30,18.3
$SPEED_LIMITS,0.080,0.242
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.193
$KALMAN_X,1933.1,362.1,-9.4,-1402.5,33.4
$KALMAN_Y,1160.7,-247.1,-69.2,-3103.6,-27.2
$MHEAD_RNG_PITCHd_Wd,304.8,1725,-14.9,-8.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.06,-146.6,0.0,0.0,0,88,0.00,0.00,-66.28,0.000,2,0.000,0.000,6,2084,3086
$GC,91,-1.06,-146.6,3.4,-5.7,12,115,10.30,2.42,-6.70,0.000,4,0.225,0.061,2464,3515,3400
$GC,155,-1.06,-146.6,12.7,-10.7,23,161,0.00,2.30,0.00,0.000,6,0.000,0.030,2464,2092,3402
$GC,228,-1.06,-146.6,20.3,-10.3,36,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2092,3402
$GC,419,-1.06,-146.6,39.6,-10.5,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2092,3403
$GC,610,-1.06,-146.6,58.9,-10.0,72,614,0.00,2.38,0.00,0.000,4,0.000,0.051,2460,3516,3403
$GC,698,-1.06,-146.6,68.3,-10.7,79,706,0.00,2.28,0.00,0.000,6,0.000,0.029,2460,2096,3403
$GC,1026,-1.06,-146.6,101.0,-9.9,110,1030,0.00,2.35,0.00,0.000,4,0.000,0.051,2454,3514,3403
$STATE,1203,end dive,NO_VERTICAL_VELOCITY
$STATE,1203,begin apogee
$GC,1208,-0.29,0.0,104.6,0.0,125,1326,0.77,0.00,113.10,0.862,6,0.080,0.000,2721,2068,2800
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1328,1.06,146.6,104.6,0.0,137,1447,1.33,2.42,111.40,0.700,4,0.075,0.044,3164,677,2202
$GC,1464,1.06,146.6,97.8,8.4,150,1469,0.00,2.38,0.00,0.000,6,0.000,0.033,3164,2080,2202
$GC,1790,1.06,146.6,66.0,9.1,180,1794,0.00,2.35,0.00,0.000,4,0.000,0.048,3164,3494,2201
$GC,1833,1.06,146.6,61.2,10.2,183,1841,0.00,2.33,0.00,0.000,6,0.000,0.031,3174,2080,2200
$GC,2161,1.06,146.6,32.1,9.1,214,2165,0.00,2.30,0.00,0.000,4,0.000,0.044,3182,665,2200
$GC,2189,1.06,146.6,29.3,9.5,216,2193,0.00,2.30,0.00,0.000,6,0.000,0.035,3182,2087,2200
$GC,2391,1.06,146.6,10.9,8.8,243,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2087,2200
$GC,2464,1.06,146.6,4.6,8.4,256,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2087,2200
$STATE,2513,end climb,SURFACE_DEPTH_REACHED
$STATE,2513,begin surface coast
$FINISH,1.2,1.023116
$STATE,2553,end surface coast,CONTROL_FINISHED_OK
$STATE,2554,begin surface
$SM_CCo,2569,103.10,0.759,0,0,1372,350.04
$SM_GC,1.30,0.00,0.00,103.10,0.000,0.000,0.759,1,2090,1372,-8.81,-0.28,350.04
$IRIDIUM_FIX,4751.72,-12219.12,060907,232340
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,28.2
$24V_AH,24.4,11.281
$10V_AH,10.8,3.963
$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,21.575,28.125,224.500,103.100,0.000,40.657,43.857,87.203,0.500,0.000,0.000,33.056,464.021,1275.034,367.180,605.093,241.202,33.347,686.658,0.000,597.410,0.000,2.493
$DEVICE_MAMPS,224.731,61.360,862.108,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,194.961,213.869,459.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12804,272
$CFSIZE,260165632,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,204959,4807.517,-12223.312,9,2.3,29,18.3