version: 66.02
glider: 128
mission: 2
dive: 237
start: 9 15 107 11 19 34
data:
$ID,128
$MISSION,2
$DIVE,237
$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,-65002.961
$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,39
$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
$GPS1,111339,4808.083,-12224.141,10,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.5
$GPS2,111832,4808.054,-12224.130,7,1.9,7,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.020
$KALMAN_X,17180.2,-16.7,181.5,-17632.0,-34.1
$KALMAN_Y,9894.1,-295.3,54.0,-10415.3,-25.7
$MHEAD_RNG_PITCHd_Wd,92.8,189,-39.9,-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,-2.23,-14.5,0.0,0.0,0,131,0.00,0.00,-104.88,0.000,6,0.000,0.000,19,2250,2860
$GC,134,-2.25,-30.0,2.1,-1.4,20,153,8.48,2.35,-1.75,0.000,4,0.216,0.052,2093,840,2925
$GC,457,-2.27,-44.1,13.1,-1.7,77,464,0.00,2.28,-0.93,0.000,6,0.000,0.033,2085,2257,2982
$GC,532,-2.27,-45.5,16.0,-4.7,90,538,0.00,2.30,0.00,0.000,4,0.000,0.036,2085,828,2983
$GC,841,-2.27,-45.5,37.2,-6.7,123,848,0.00,2.30,0.00,0.000,6,0.000,0.033,2075,2251,2984
$GC,1039,-2.27,-45.5,50.4,-6.6,142,1043,0.00,2.25,0.00,0.000,4,0.000,0.035,2076,839,2984
$GC,1348,-2.27,-45.5,70.7,-6.3,169,1352,0.00,2.25,0.00,0.000,6,0.000,0.033,2066,2258,2984
$GC,1674,-2.27,-45.5,90.3,-5.5,199,1678,0.00,2.28,0.00,0.000,4,0.000,0.036,2066,826,2984
$STATE,1760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1760,begin apogee
$GC,1767,-0.28,0.0,95.3,5.4,206,1808,2.33,0.00,35.83,0.817,6,0.170,0.000,2721,2156,2800
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1808,begin climb
$GC,1810,2.27,45.5,95.8,0.0,210,1854,2.40,2.42,35.42,0.707,4,0.074,0.044,3551,3558,2613
$GC,2114,2.27,45.5,52.9,14.6,237,2118,0.00,2.28,0.00,0.000,6,0.000,0.031,3562,2145,2611
$GC,2442,2.27,45.5,11.4,10.5,274,2449,0.00,2.25,0.00,0.000,4,0.000,0.041,3571,747,2610
$GC,2455,2.27,45.5,10.1,10.4,276,2462,0.00,2.25,0.00,0.000,6,0.000,0.035,3571,2146,2610
$GC,2530,2.27,45.5,5.0,6.1,289,2536,0.00,2.28,0.00,0.000,4,0.000,0.041,3581,744,2610
$GC,2565,2.29,64.4,5.3,0.6,295,2589,0.00,2.25,14.75,0.808,6,0.000,0.035,3582,2152,2536
$GC,2657,2.31,78.4,4.8,1.7,311,2675,0.00,2.33,11.07,0.725,4,0.000,0.041,3591,744,2480
$GC,2978,2.34,101.5,3.5,-0.4,368,3002,0.00,2.28,17.20,0.753,6,0.000,0.035,3591,2155,2386
$STATE,3051,end climb,NO_VERTICAL_VELOCITY
$STATE,3051,begin surface
$SM_CCo,3054,247.00,0.634,0,0,204,636.80
$SM_GC,1.01,10.43,0.00,0.00,0.044,0.000,0.000,19,2261,195,-8.69,0.28,639.01
$IRIDIUM_FIX,4748.51,-12224.57,150907,141443
$TT8_MAMPS,0.026078
$HUMID,1854
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,38.5
$24V_AH,25.0,27.084
$10V_AH,10.8,12.911
$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,23.625,36.625,114.275,247.000,0.000,39.151,61.883,108.267,0.250,0.000,0.000,8.951,644.727,1450.202,460.860,842.859,328.043,33.336,866.416,0.000,862.635,0.000,2.510
$DEVICE_MAMPS,216.294,59.826,816.855,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.101,288.621,643.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19161,381
$CFSIZE,260165632,251027456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,121729,4808.098,-12224.068,9,3.0,29,18.3