version: 66.02
glider: 128
mission: 2
dive: 225
start: 9 14 107 22 57 18
data:
$ID,128
$MISSION,2
$DIVE,225
$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,63
$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,-64679.828
$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,18
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,46
$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
$GPS1,225044,4807.416,-12223.350,11,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.2
$GPS2,225617,4807.398,-12223.331,12,5.4,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.105
$KALMAN_X,17705.1,15.8,136.7,-17158.7,-41.5
$KALMAN_Y,10458.0,171.6,-19.1,-12586.1,256.4
$MHEAD_RNG_PITCHd_Wd,293.5,1388,-10.6,-5.026
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.77,-146.6,0.0,0.0,0,89,0.00,0.00,-65.12,0.000,2,0.000,0.000,17,2268,3234
$GC,92,-0.77,-146.6,3.9,-3.8,12,111,10.32,2.35,-3.10,0.000,4,0.212,0.051,2567,841,3399
$GC,415,-0.77,-146.6,32.5,-6.9,53,421,0.00,2.25,0.00,0.000,6,0.000,0.035,2566,2241,3403
$GC,611,-0.77,-146.6,45.0,-6.4,72,615,0.00,2.25,0.00,0.000,4,0.000,0.037,2566,842,3403
$GC,662,-0.77,-146.6,48.3,-6.4,76,666,0.00,2.28,0.00,0.000,6,0.000,0.035,2566,2257,3403
$GC,859,-0.77,-146.6,60.4,-5.9,94,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2258,3403
$GC,1178,-0.77,-146.6,79.4,-5.6,124,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2257,3403
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1458,-0.28,0.0,95.2,5.8,150,1575,0.52,0.00,111.60,0.760,6,0.108,0.000,2731,2121,2799
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1578,0.77,146.6,97.8,0.0,162,1696,1.00,0.00,111.43,0.700,6,0.079,0.000,3060,2121,2202
$GC,2014,0.77,146.6,69.6,7.0,204,2018,0.00,2.40,0.00,0.000,4,0.000,0.045,3060,3560,2199
$GC,2059,0.77,146.6,66.1,7.7,208,2063,0.00,2.25,0.00,0.000,6,0.000,0.029,3068,2161,2199
$GC,2386,0.77,146.6,42.8,6.6,238,2390,0.00,2.28,0.00,0.000,4,0.000,0.041,3074,751,2198
$GC,2419,0.77,146.6,40.3,6.2,240,2425,0.00,2.28,0.00,0.000,6,0.000,0.033,3074,2150,2198
$GC,2616,0.77,146.6,27.3,6.3,259,2620,0.00,2.30,0.00,0.000,4,0.000,0.047,3074,3558,2198
$GC,2678,0.77,146.6,22.6,7.7,264,2682,0.00,2.25,0.00,0.000,6,0.000,0.031,3083,2143,2198
$GC,2887,0.77,146.6,8.4,6.7,297,2893,0.00,2.22,0.00,0.000,4,0.000,0.041,3092,751,2198
$GC,2950,0.77,146.6,5.1,5.1,308,2956,0.00,2.22,0.00,0.000,6,0.000,0.033,3092,2152,2198
$GC,3025,0.86,219.1,2.9,2.8,321,3076,0.00,2.42,46.28,0.742,4,0.000,0.045,3091,3562,1905
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FINISH,0.3,1.010641
$STATE,3199,end surface coast,CONTROL_FINISHED_OK
$STATE,3199,begin surface
$SM_CCo,3218,39.25,0.690,0,0,1576,300.00
$SM_GC,1.73,0.00,0.00,39.25,0.000,0.000,0.690,4,2236,1576,-8.80,-0.40,300.00
$IRIDIUM_FIX,4751.72,-12219.12,150907,010121
$TT8_MAMPS,0.026845
$HUMID,1888
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.0,43.0
$24V_AH,24.5,26.169
$10V_AH,10.7,12.365
$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,20.700,32.075,269.300,39.250,0.000,40.675,54.408,132.520,0.750,0.000,0.000,33.732,577.388,1618.611,343.005,736.177,339.174,33.356,704.243,0.000,730.081,0.000,2.512
$DEVICE_MAMPS,211.692,51.389,760.097,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.019,271.937,594.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15982,352
$CFSIZE,260165632,251371520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,235237,4807.634,-12223.729,25,1.8,26,18.3