version: 66.02
glider: 128
mission: 2
dive: 227
start: 9 15 107 0 57 12
data:
$ID,128
$MISSION,2
$DIVE,227
$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,-64711.973
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,005151,4807.930,-12223.981,6,2.0,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,005609,4807.921,-12223.990,12,2.0,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,0.049
$KALMAN_X,17784.7,-115.1,74.1,-17858.9,-70.7
$KALMAN_Y,10166.7,349.8,135.8,-11660.4,-39.8
$MHEAD_RNG_PITCHd_Wd,359.1,147,-41.8,-5.026
$D_GRID,103
$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,-2.34,-13.3,0.0,0.0,0,77,0.00,0.00,-53.62,0.000,6,0.000,0.000,18,2270,2856
$GC,80,-2.36,-26.7,2.1,-1.6,10,99,8.35,2.38,-1.42,0.000,4,0.216,0.051,2056,850,2911
$GC,401,-2.36,-27.0,24.9,-4.9,58,408,0.00,2.25,0.00,0.000,6,0.000,0.033,2048,2237,2913
$GC,599,-2.36,-27.0,35.3,-5.9,77,603,0.00,2.22,0.00,0.000,4,0.000,0.035,2049,839,2913
$GC,907,-2.36,-27.0,51.5,-5.3,104,914,0.00,2.25,0.00,0.000,6,0.000,0.033,2038,2260,2913
$GC,1233,-2.36,-31.8,65.6,-3.8,135,1238,0.00,2.28,-0.12,0.000,4,0.000,0.048,2038,832,2932
$GC,1542,-2.37,-34.1,81.2,-4.4,162,1547,0.12,2.25,0.00,0.000,6,0.203,0.033,2054,2255,2932
$GC,1872,-2.37,-36.9,94.5,-4.3,193,1876,0.00,2.25,-0.15,0.000,4,0.000,0.048,2054,837,2957
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1894,-0.28,0.0,95.3,4.5,194,1931,2.38,0.00,31.17,0.841,6,0.170,0.000,2728,2153,2799
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1932,begin climb
$GC,1934,2.37,36.9,96.0,0.0,198,1972,2.47,2.35,29.17,0.709,4,0.074,0.055,3587,3552,2648
$GC,2067,2.37,36.9,79.7,15.6,209,2074,0.00,2.28,0.00,0.000,6,0.000,0.031,3598,2146,2647
$GC,2392,2.37,36.9,36.9,11.9,240,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2146,2646
$GC,2585,2.37,36.9,16.2,10.2,261,2591,0.00,2.33,0.00,0.000,4,0.000,0.044,3598,3558,2646
$GC,2597,2.37,36.9,14.9,10.1,263,2604,0.00,2.25,0.00,0.000,6,0.000,0.032,3608,2154,2646
$GC,2672,2.37,36.9,7.2,10.2,276,2678,0.00,2.30,0.00,0.000,4,0.000,0.046,3608,3550,2646
$GC,2690,2.37,36.9,5.5,9.7,279,2697,0.15,2.25,0.00,0.000,6,0.203,0.032,3587,2144,2646
$GC,2765,2.40,63.7,5.4,-1.8,292,2794,0.00,2.33,20.42,0.799,4,0.000,0.041,3595,745,2540
$GC,2968,2.43,84.5,4.0,-0.3,328,2992,0.00,2.28,16.17,0.759,6,0.000,0.033,3595,2157,2454
$GC,3060,2.44,95.8,2.6,2.1,344,3078,0.00,2.38,8.85,0.720,4,0.000,0.046,3595,3555,2408
$STATE,3116,end climb,SURFACE_DEPTH_REACHED
$STATE,3116,begin surface coast
$FINISH,1.9,1.024491
$STATE,3257,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3257,begin surface
$SM_CCo,3279,92.55,0.663,0,0,1576,300.00
$SM_GC,1.12,0.00,0.00,92.55,0.000,0.000,0.663,3,2236,1576,-8.81,-0.40,300.00
$IRIDIUM_FIX,4748.51,-12221.84,150907,030319
$TT8_MAMPS,0.026078
$HUMID,1910
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,38.7
$24V_AH,25.1,26.291
$10V_AH,10.7,12.454
$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,24.425,40.875,105.800,92.550,0.000,36.937,41.329,96.695,0.500,0.000,0.000,14.378,661.154,1600.761,272.470,830.889,291.317,33.337,663.409,0.000,846.398,0.000,2.507
$DEVICE_MAMPS,216.294,55.224,841.399,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.039,293.661,639.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19070,379
$CFSIZE,260165632,251305984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,015429,4807.992,-12224.104,8,5.8,28,18.3