version: 66.02
glider: 128
mission: 2
dive: 235
start: 9 15 107 9 11 30
data:
$ID,128
$MISSION,2
$DIVE,235
$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,-64977.984
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,090531,4808.099,-12223.961,28,1.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.1
$GPS2,091029,4808.086,-12223.935,14,2.9,33,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,-0.027
$KALMAN_X,17491.8,-192.9,37.2,-17384.9,118.5
$KALMAN_Y,10019.5,-128.7,-99.7,-10496.1,-54.9
$MHEAD_RNG_PITCHd_Wd,224.2,178,-37.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-2.11,-16.1,0.0,0.0,0,133,0.00,0.00,-104.18,0.000,6,0.000,0.000,21,2249,2866
$GC,136,-2.13,-30.6,2.5,-2.0,20,155,8.48,2.38,-1.45,0.000,4,0.211,0.057,2123,3658,2927
$GC,458,-2.14,-44.3,13.3,-2.1,77,465,0.00,2.25,-0.90,0.000,6,0.000,0.028,2123,2223,2984
$GC,533,-2.14,-44.3,17.0,-5.3,90,540,0.00,2.38,0.00,0.000,4,0.000,0.045,2112,3663,2984
$GC,842,-2.14,-44.3,39.5,-7.3,121,849,0.00,2.22,0.00,0.000,6,0.000,0.028,2112,2250,2985
$GC,1040,-2.14,-44.3,51.9,-6.1,140,1044,0.00,2.30,0.00,0.000,4,0.000,0.045,2102,3661,2985
$GC,1164,-2.14,-44.3,59.4,-5.9,151,1168,0.12,2.20,0.00,0.000,6,0.186,0.028,2128,2239,2985
$GC,1488,-2.14,-44.3,77.5,-5.9,181,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2238,2985
$GC,1807,-2.14,-44.6,94.6,-5.0,211,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2238,2985
$STATE,1816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1816,begin apogee
$GC,1821,-0.28,0.0,95.1,4.7,212,1862,2.05,0.00,36.08,0.830,6,0.160,0.000,2721,2156,2800
$STATE,1862,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1865,2.14,44.6,95.9,0.0,216,1908,2.28,2.33,34.47,0.705,4,0.077,0.041,3521,762,2618
$GC,1965,2.14,44.6,85.0,14.1,225,1969,0.00,2.28,0.00,0.000,6,0.000,0.034,3521,2156,2617
$GC,2297,2.14,44.6,40.4,11.9,256,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2156,2617
$GC,2487,2.14,44.6,18.5,10.7,275,2494,0.00,2.30,0.00,0.000,4,0.000,0.047,3521,3562,2616
$GC,2534,2.14,44.6,13.4,10.9,283,2540,0.00,2.22,0.00,0.000,6,0.000,0.031,3532,2159,2616
$GC,2608,2.14,44.6,6.3,9.2,296,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2159,2616
$GC,2683,2.18,76.2,6.1,-1.7,309,2712,0.00,2.40,24.10,0.775,4,0.000,0.046,3532,3558,2488
$STATE,2924,end climb,NO_VERTICAL_VELOCITY
$STATE,2924,begin surface
$SM_CCo,2927,291.33,0.639,0,0,203,636.80
$SM_GC,1.03,10.27,0.00,0.00,0.044,0.000,0.000,14,2249,194,-8.70,-0.03,639.25
$IRIDIUM_FIX,4748.51,-12224.57,150907,121259
$TT8_MAMPS,0.025311
$HUMID,1841
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,35.8
$24V_AH,25.0,26.924
$10V_AH,10.8,12.814
$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,23.200,27.525,94.650,291.325,0.000,40.470,46.204,103.337,0.250,0.000,0.000,35.670,593.487,1515.925,484.251,753.553,302.650,33.336,839.655,0.000,747.820,0.000,2.507
$DEVICE_MAMPS,210.925,74.399,829.894,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.918,269.773,594.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16021,352
$CFSIZE,260165632,251092992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,100807,4808.023,-12224.073,32,1.1,33,18.3