version: 66.02
glider: 128
mission: 2
dive: 139
start: 9 10 107 19 59 21
data:
$ID,128
$MISSION,2
$DIVE,139
$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,53
$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,0.0043390002
$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,-62014.656
$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,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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,194157,4807.701,-12223.558,10,1.6,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.4
$GPS2,195821,4807.703,-12223.493,13,1.9,13,18.3
$SPEED_LIMITS,0.060,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,0.075
$KALMAN_X,11097.2,84.5,64.3,-10749.1,5.5
$KALMAN_Y,4256.6,77.4,-115.1,-5633.4,198.8
$MHEAD_RNG_PITCHd_Wd,277.2,834,-13.2,-5.975
$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,21,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-73.50,0.000,6,0.000,0.000,18,2222,3399
$GC,101,-0.78,-146.6,3.8,-4.0,14,114,10.40,0.00,0.00,0.000,6,0.213,0.000,2564,2222,3402
$GC,182,-0.78,-146.6,15.6,-7.8,28,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2222,3405
$GC,260,-0.78,-146.6,20.8,-6.3,41,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2222,3405
$GC,451,-0.78,-146.6,33.1,-6.4,59,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2222,3405
$GC,642,-0.78,-146.6,44.3,-5.6,77,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2222,3405
$GC,834,-0.78,-146.6,54.8,-5.0,95,838,0.00,2.28,0.00,0.000,4,0.000,0.041,2564,815,3405
$GC,957,-0.78,-146.6,62.5,-6.6,105,963,0.00,2.22,0.00,0.000,6,0.000,0.035,2564,2209,3405
$GC,1282,-0.78,-146.6,82.7,-6.2,136,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2210,3405
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1497,-0.23,0.0,95.3,5.7,156,1615,0.57,0.00,112.85,0.779,6,0.110,0.000,2745,2141,2800
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1618,0.78,146.6,97.5,0.0,168,1733,0.98,0.00,111.47,0.699,6,0.078,0.000,3065,2140,2202
$GC,2050,0.78,146.6,70.1,6.9,209,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2140,2200
$GC,2369,0.81,172.9,51.2,5.1,239,2392,0.00,0.00,21.02,0.848,6,0.000,0.000,3065,2140,2095
$GC,2709,0.81,172.9,29.2,7.2,271,2713,0.00,2.25,0.00,0.000,4,0.000,0.041,3066,759,2093
$GC,2794,0.81,172.9,23.0,7.3,278,2798,0.00,2.25,0.00,0.000,6,0.000,0.033,3066,2159,2093
$GC,2998,0.81,172.9,8.9,7.2,310,3005,0.00,2.28,0.00,0.000,4,0.000,0.042,3068,760,2093
$GC,3033,0.81,172.9,6.8,6.5,316,3039,0.00,2.22,0.00,0.000,6,0.000,0.032,3068,2160,2093
$GC,3107,0.92,260.2,3.9,3.2,329,3154,0.15,0.00,43.95,0.765,2,0.058,0.000,3148,2160,1854
$STATE,3155,end climb,SURFACE_DEPTH_REACHED
$STATE,3155,begin surface coast
$FINISH,0.3,1.002907
$STATE,3205,end surface coast,CONTROL_FINISHED_OK
$STATE,3205,begin surface
$SM_CCo,3222,30.33,0.685,0,0,1577,300.00
$SM_GC,1.44,0.00,0.00,30.33,0.000,0.000,0.685,14,2216,1577,-8.77,0.17,300.00
$IRIDIUM_FIX,4751.72,-12226.29,100907,232329
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,42.9
$24V_AH,24.4,19.640
$10V_AH,10.8,8.139
$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,21.175,13.625,289.300,30.325,0.000,158.048,284.301,267.166,0.250,0.000,0.000,15.268,561.429,1856.413,332.415,691.130,818.806,33.343,692.276,0.000,707.081,0.000,2.515
$DEVICE_MAMPS,213.226,92.807,847.535,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.657,271.794,584.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16037,346
$CFSIZE,260165632,253837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,205438,4807.771,-12223.588,29,1.2,30,18.3