version: 66.02
glider: 128
mission: 2
dive: 53
start: 9 7 107 11 25 8
data:
$ID,128
$MISSION,2
$DIVE,53
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,40
$T_MISSION,60
$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,-60236.023
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,111939,4806.638,-12222.388,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.6
$GPS2,112414,4806.598,-12222.380,11,1.7,28,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.168,0.166
$KALMAN_X,3912.5,6.2,-63.5,-1983.0,142.2
$KALMAN_Y,855.7,97.8,-14.4,-4398.2,-61.1
$MHEAD_RNG_PITCHd_Wd,296.4,3279,-14.0,-7.500
$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,20,-0.82,-146.6,0.0,0.0,0,94,0.00,0.00,-71.97,0.000,2,0.000,0.000,7,2091,3166
$GC,97,-0.82,-146.6,3.1,-4.7,13,121,10.52,2.42,-5.10,0.000,4,0.220,0.064,2539,3500,3401
$GC,194,-0.82,-146.6,14.6,-8.0,30,200,0.00,2.28,0.00,0.000,6,0.000,0.030,2539,2091,3402
$GC,273,-0.82,-146.6,20.9,-7.9,43,277,0.00,2.40,0.00,0.000,4,0.000,0.052,2538,3506,3403
$GC,316,-0.82,-146.6,24.3,-7.7,46,323,0.00,2.30,0.00,0.000,6,0.000,0.029,2539,2097,3403
$GC,514,-0.82,-146.6,38.9,-7.4,65,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2097,3403
$GC,705,-0.82,-146.6,53.1,-7.3,83,709,0.00,2.35,0.00,0.000,4,0.000,0.052,2538,3503,3403
$GC,760,-0.82,-146.6,57.4,-8.0,88,765,0.00,2.25,0.00,0.000,6,0.000,0.030,2539,2091,3403
$GC,1085,-0.82,-146.6,80.5,-7.1,118,1089,0.00,2.38,0.00,0.000,4,0.000,0.052,2539,3515,3403
$GC,1158,-0.82,-146.6,85.8,-6.9,124,1162,0.00,2.25,0.00,0.000,6,0.000,0.030,2539,2095,3403
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1219,-0.23,0.0,90.1,7.2,129,1338,0.68,0.00,113.10,0.811,6,0.114,0.000,2748,2095,2799
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1341,0.82,146.6,92.6,0.0,141,1460,1.02,2.47,111.45,0.700,4,0.081,0.046,3083,682,2202
$GC,1477,0.84,164.8,86.4,6.9,154,1499,0.00,2.38,15.45,0.740,6,0.000,0.035,3083,2078,2127
$GC,1816,0.84,164.8,59.6,7.7,186,1820,0.00,2.35,0.00,0.000,4,0.000,0.050,3083,3490,2127
$GC,1895,0.84,164.8,53.1,8.1,193,1899,0.00,2.28,0.00,0.000,6,0.000,0.032,3091,2083,2126
$GC,2225,0.84,166.4,28.1,7.4,224,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2083,2126
$GC,2420,0.84,167.8,13.9,7.5,249,2432,0.00,2.38,3.75,0.545,4,0.000,0.051,3091,3478,2116
$GC,2490,0.84,167.8,8.3,8.1,261,2496,0.00,2.28,0.00,0.000,6,0.000,0.033,3094,2067,2116
$GC,2564,0.87,190.6,3.1,6.7,274,2587,0.00,2.30,17.67,0.850,4,0.000,0.046,3094,675,2021
$STATE,2591,end climb,SURFACE_DEPTH_REACHED
$STATE,2592,begin surface coast
$FINISH,0.4,1.012160
$STATE,2644,end surface coast,CONTROL_FINISHED_OK
$STATE,2644,begin surface
$SM_CCo,2661,73.40,0.711,0,0,1373,350.04
$SM_GC,1.06,0.00,0.00,73.40,0.000,0.000,0.711,15,2104,1373,-8.76,0.11,350.04
$IRIDIUM_FIX,4748.51,-12220.12,070907,141425
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,48.3
$24V_AH,24.4,12.724
$10V_AH,10.8,4.635
$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,21.050,37.425,261.425,73.400,0.000,37.269,50.535,100.354,0.250,0.000,0.000,30.383,480.875,1291.947,369.943,623.844,263.201,33.346,709.825,0.000,618.719,0.000,2.518
$DEVICE_MAMPS,220.129,64.428,849.836,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,207.354,221.769,485.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12834,288
$CFSIZE,260165632,256208896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,121155,4806.732,-12222.517,33,1.6,38,18.3