version: 66.02
glider: 128
mission: 2
dive: 37
start: 9 6 107 20 55 11
data:
$ID,128
$MISSION,2
$DIVE,37
$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,-59885.977
$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,37
$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
$GPS1,204959,4807.517,-12223.312,9,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.2
$GPS2,205417,4807.493,-12223.323,11,2.3,30,18.3
$SPEED_LIMITS,0.080,0.242
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,0.170
$KALMAN_X,2176.7,332.4,-31.2,-1772.0,72.7
$KALMAN_Y,1100.9,-232.4,-71.7,-2597.9,-20.0
$MHEAD_RNG_PITCHd_Wd,296.4,1258,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-66.47,0.000,2,0.000,0.000,1,2091,3065
$GC,91,-1.06,-146.6,3.2,-5.1,12,115,10.23,2.40,-7.32,0.000,4,0.220,0.061,2471,3512,3399
$GC,173,-1.06,-146.6,14.0,-10.6,26,179,0.00,2.30,0.00,0.000,6,0.000,0.030,2470,2087,3401
$GC,246,-1.06,-146.6,21.3,-9.8,38,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2087,3401
$GC,437,-1.06,-146.6,39.5,-9.8,56,441,0.00,2.38,0.00,0.000,4,0.000,0.051,2469,3509,3403
$GC,474,-1.06,-146.6,43.2,-9.8,59,481,0.00,2.28,0.00,0.000,6,0.000,0.029,2469,2098,3402
$GC,672,-1.06,-146.6,61.9,-9.3,78,676,0.00,2.35,0.00,0.000,4,0.000,0.051,2462,3515,3402
$GC,709,-1.06,-146.6,65.7,-9.7,81,716,0.00,2.28,0.00,0.000,6,0.000,0.029,2462,2095,3403
$GC,1036,-1.06,-146.6,97.5,-10.1,112,1040,0.00,2.35,0.00,0.000,4,0.000,0.051,2457,3514,3403
$STATE,1254,end dive,NO_VERTICAL_VELOCITY
$STATE,1254,begin apogee
$GC,1260,-0.29,0.0,104.4,0.0,131,1377,0.77,0.00,112.72,0.844,6,0.078,0.000,2725,2070,2800
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,1.06,146.6,104.3,0.0,143,1498,1.30,2.42,111.38,0.701,4,0.074,0.044,3164,680,2202
$GC,1549,1.06,146.6,93.8,9.5,159,1553,0.00,2.35,0.00,0.000,6,0.000,0.034,3163,2084,2201
$GC,1878,1.06,146.6,61.2,9.7,190,1882,0.00,2.33,0.00,0.000,4,0.000,0.048,3163,3485,2200
$GC,1929,1.06,146.6,55.9,10.6,194,1933,0.00,2.28,0.00,0.000,6,0.000,0.031,3172,2078,2200
$GC,2253,1.06,146.6,24.5,9.3,224,2257,0.00,2.35,0.00,0.000,4,0.000,0.048,3172,3493,2200
$GC,2273,1.06,146.6,22.4,9.5,225,2280,0.00,2.30,0.00,0.000,6,0.000,0.032,3181,2079,2200
$GC,2483,1.06,146.6,3.7,8.2,260,2489,0.00,2.28,0.00,0.000,4,0.000,0.045,3184,675,2200
$GC,2495,1.09,169.7,2.9,7.2,262,2518,0.00,2.25,16.85,0.845,6,0.000,0.035,3184,2080,2107
$STATE,2522,end climb,SURFACE_DEPTH_REACHED
$STATE,2522,begin surface coast
$FINISH,0.4,1.004318
$STATE,2563,end surface coast,CONTROL_FINISHED_OK
$STATE,2563,begin surface
$SM_CCo,2578,88.12,0.706,0,0,1372,350.04
$SM_GC,0.96,0.00,0.00,88.12,0.000,0.000,0.706,13,2084,1372,-8.77,-0.45,350.04
$IRIDIUM_FIX,4748.51,-12219.12,070907,000031
$TT8_MAMPS,0.026078
$HUMID,1842
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,27.6
$24V_AH,24.4,11.360
$10V_AH,10.8,4.000
$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,21.425,37.200,240.950,88.125,0.000,38.336,44.871,88.328,0.500,0.000,0.000,32.693,466.586,1250.678,366.472,618.908,242.498,33.341,697.788,0.000,608.839,0.000,2.490
$DEVICE_MAMPS,220.129,61.360,845.234,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,196.701,212.428,462.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12839,274
$CFSIZE,260165632,256638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,214037,4807.747,-12223.516,26,1.2,26,18.3