version: 66.02
glider: 128
mission: 2
dive: 160
start: 9 11 107 19 26 47
data:
$ID,128
$MISSION,2
$DIVE,160
$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,67
$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,0.0043390002
$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,-62399.125
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,191737,4805.979,-12222.218,27,1.0,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.1
$GPS2,192526,4806.041,-12222.255,13,1.0,13,18.3
$SPEED_LIMITS,0.047,0.057
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.025,0.051
$KALMAN_X,12280.6,27.1,201.3,-10477.4,-131.5
$KALMAN_Y,5330.4,83.6,-227.1,-9678.4,184.9
$MHEAD_RNG_PITCHd_Wd,315.5,4221,-36.5,-4.726
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.68,-15.5,0.0,0.0,0,131,0.00,0.00,-105.75,0.000,6,0.000,0.000,18,2221,2863
$GC,133,-1.70,-32.4,2.0,-1.2,20,153,9.12,2.38,-2.03,0.000,4,0.212,0.054,2267,803,2935
$GC,378,-1.72,-49.3,10.7,-1.2,63,385,0.00,2.30,-1.25,0.000,6,0.000,0.034,2260,2227,3004
$GC,453,-1.73,-54.8,13.1,-3.6,76,460,0.00,2.28,-0.32,0.000,4,0.000,0.061,2249,3612,3025
$GC,762,-1.73,-54.8,33.0,-6.3,113,769,0.00,2.25,0.00,0.000,6,0.000,0.028,2249,2202,3026
$GC,959,-1.73,-54.8,45.5,-6.5,132,963,0.00,2.33,0.00,0.000,4,0.000,0.048,2238,3617,3027
$GC,1268,-1.73,-54.8,66.5,-7.1,159,1275,0.00,2.20,0.00,0.000,6,0.000,0.028,2238,2206,3027
$GC,1594,-1.73,-54.8,88.3,-6.5,190,1598,0.00,2.33,0.00,0.000,4,0.000,0.047,2227,3621,3027
$STATE,1691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1698,-0.23,0.0,95.3,6.5,198,1746,1.75,0.00,44.08,0.898,6,0.159,0.000,2735,2144,2800
$STATE,1747,end apogee,CONTROL_FINISHED_OK
$STATE,1747,begin climb
$GC,1749,1.73,54.8,96.3,0.0,203,1802,1.90,2.40,42.40,0.692,4,0.077,0.041,3381,747,2575
$GC,1814,1.73,54.8,91.7,9.4,209,1818,0.00,2.33,0.00,0.000,6,0.000,0.034,3381,2146,2575
$GC,2139,1.73,54.8,52.3,12.0,239,2143,0.00,2.30,0.00,0.000,4,0.000,0.042,3391,745,2574
$GC,2201,1.73,54.8,45.1,11.4,244,2205,0.00,2.28,0.00,0.000,6,0.000,0.035,3391,2159,2573
$GC,2403,1.73,54.8,22.7,10.6,263,2407,0.00,2.30,0.00,0.000,4,0.000,0.047,3391,3563,2573
$GC,2424,1.73,54.8,20.2,10.8,264,2430,0.00,2.30,0.00,0.000,6,0.000,0.031,3402,2147,2572
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,2.5,1.024239
$STATE,2661,end surface coast,CONTROL_FINISHED_OK
$STATE,2661,begin surface
$SM_CCo,2664,271.42,0.649,0,0,204,636.80
$SM_GC,0.99,9.93,0.00,0.00,0.044,0.000,0.000,16,2227,195,-8.69,0.48,639.01
$IRIDIUM_FIX,4748.51,-12217.40,110907,232309
$TT8_MAMPS,0.026078
$HUMID,1825
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,42.2
$24V_AH,24.8,21.251
$10V_AH,10.8,9.131
$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,22.700,32.425,86.475,271.425,0.000,79.666,89.694,152.820,0.750,0.000,0.000,14.969,559.337,1425.405,459.167,689.431,422.017,33.339,796.980,0.000,701.882,0.000,2.518
$DEVICE_MAMPS,212.459,60.593,898.157,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.364,235.480,516.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15986,306
$CFSIZE,260165632,253243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,201815,4806.257,-12222.306,10,1.8,11,18.3