version: 66.02
glider: 128
mission: 2
dive: 54
start: 9 7 107 12 16 59
data:
$ID,128
$MISSION,2
$DIVE,54
$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,-60252.523
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,121155,4806.732,-12222.517,33,1.6,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.0
$GPS2,121603,4806.756,-12222.577,14,1.8,14,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.173
$KALMAN_X,4007.5,24.9,-18.7,-2383.6,126.5
$KALMAN_Y,792.1,79.3,-33.1,-4003.5,-75.2
$MHEAD_RNG_PITCHd_Wd,298.8,2898,-14.0,-7.500
$D_GRID,107
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.82,-146.6,0.0,0.0,0,93,0.00,0.00,-71.50,0.000,2,0.000,0.000,16,2105,3176
$GC,95,-0.82,-146.6,3.4,-5.7,13,119,10.45,2.42,-4.72,0.000,4,0.218,0.064,2541,3507,3401
$GC,233,-0.82,-146.6,18.4,-8.1,37,239,0.00,2.30,0.00,0.000,6,0.000,0.031,2541,2084,3403
$GC,309,-0.82,-146.6,24.5,-7.6,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2083,3404
$GC,501,-0.82,-146.6,38.8,-7.3,64,505,0.00,2.40,0.00,0.000,4,0.000,0.052,2541,3509,3403
$GC,566,-0.82,-146.6,43.9,-7.7,69,574,0.00,2.28,0.00,0.000,6,0.000,0.029,2541,2100,3403
$GC,764,-0.82,-146.6,58.7,-7.6,88,768,0.00,2.35,0.00,0.000,4,0.000,0.051,2539,3513,3404
$GC,801,-0.82,-146.6,61.7,-7.5,91,809,0.00,2.28,0.00,0.000,6,0.000,0.030,2539,2105,3404
$GC,1129,-0.82,-146.6,84.8,-7.0,122,1133,0.00,2.35,0.00,0.000,4,0.000,0.052,2539,3512,3404
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1206,-0.23,0.0,90.0,7.1,128,1323,0.62,0.00,113.03,0.820,6,0.117,0.000,2736,2073,2800
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,0.82,146.6,92.9,0.0,140,1447,1.05,0.00,111.57,0.700,6,0.082,0.000,3075,2073,2202
$GC,1764,0.82,152.3,64.8,7.3,182,1776,0.00,2.42,5.95,0.701,4,0.000,0.049,3075,3494,2178
$GC,1810,0.82,152.3,61.2,8.1,186,1814,0.00,2.33,0.00,0.000,6,0.000,0.033,3077,2079,2178
$GC,2135,0.84,162.2,37.6,7.2,216,2150,0.00,2.42,9.15,0.803,4,0.000,0.051,3077,3484,2138
$GC,2167,0.84,162.2,35.1,7.6,219,2171,0.00,2.30,0.00,0.000,6,0.000,0.033,3081,2075,2138
$GC,2364,0.85,171.3,21.0,7.2,237,2376,0.00,0.00,8.50,0.796,6,0.000,0.000,3081,2075,2101
$GC,2576,0.87,192.6,6.4,6.8,273,2600,0.00,2.40,17.38,0.835,4,0.000,0.050,3081,3493,2013
$GC,2617,0.88,195.9,3.4,7.4,280,2629,0.00,2.33,3.10,0.438,6,0.000,0.034,3082,2078,2001
$STATE,2639,end climb,SURFACE_DEPTH_REACHED
$STATE,2639,begin surface coast
$FINISH,0.9,1.023690
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2684,77.95,0.698,0,0,1372,350.04
$SM_GC,1.14,0.00,0.00,77.95,0.000,0.000,0.698,15,2071,1372,-8.77,-0.82,350.04
$IRIDIUM_FIX,4748.51,-12224.57,070907,151502
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,57.8
$24V_AH,24.4,12.806
$10V_AH,10.8,4.674
$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,21.075,32.900,268.675,77.950,0.000,33.450,47.088,95.103,0.250,0.000,0.000,15.873,479.343,1319.620,382.177,599.178,251.625,33.342,719.902,0.000,610.329,0.000,2.530
$DEVICE_MAMPS,217.828,64.428,835.263,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.717,227.617,487.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12876,289
$CFSIZE,260165632,256184320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,130407,4806.990,-12222.717,26,1.2,32,18.3