version: 66.02
glider: 128
mission: 2
dive: 251
start: 9 16 107 1 25 28
data:
$ID,128
$MISSION,2
$DIVE,251
$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,-65272.773
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,012007,4804.991,-12221.064,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.2
$GPS2,012427,4804.977,-12221.055,14,1.3,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.061,0.145
$KALMAN_X,17790.5,103.8,58.2,-14439.6,-89.7
$KALMAN_Y,9605.8,361.9,189.3,-16618.6,-51.0
$MHEAD_RNG_PITCHd_Wd,318.7,6679,-10.6,-5.026
$D_GRID,108
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,147,0.00,0.00,-120.10,0.000,2,0.000,0.000,10,2248,3283
$GC,150,-0.77,-146.6,3.1,-2.6,22,169,10.38,2.33,-2.35,0.000,4,0.213,0.052,2566,833,3399
$GC,377,-0.77,-146.6,22.1,-6.6,60,381,0.00,2.33,0.00,0.000,6,0.000,0.038,2566,2258,3401
$GC,579,-0.77,-146.6,33.8,-6.1,79,583,0.00,2.33,0.00,0.000,4,0.000,0.053,2561,3660,3402
$GC,629,-0.77,-146.6,37.0,-6.2,83,633,0.00,2.25,0.00,0.000,6,0.000,0.028,2561,2233,3402
$GC,826,-0.77,-146.6,49.1,-5.8,101,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2233,3402
$GC,1017,-0.77,-146.6,60.5,-6.0,119,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2233,3403
$GC,1336,-0.77,-146.6,78.8,-5.8,149,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2233,3403
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1626,-0.28,0.0,95.5,6.0,176,1744,0.52,0.00,111.30,0.751,6,0.110,0.000,2724,2142,2799
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1747,0.77,146.6,98.0,0.0,188,1866,1.02,2.40,110.40,0.694,4,0.080,0.044,3068,771,2201
$GC,1895,0.77,146.6,90.8,7.5,202,1899,0.00,2.33,0.00,0.000,6,0.000,0.035,3068,2152,2200
$GC,2221,0.77,146.6,66.1,7.4,232,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2152,2200
$GC,2538,0.77,146.6,43.6,6.8,262,2542,0.00,2.33,0.00,0.000,4,0.000,0.050,3068,3558,2199
$GC,2559,0.77,146.6,42.0,7.0,263,2566,0.00,2.25,0.00,0.000,6,0.000,0.031,3077,2155,2199
$GC,2756,0.77,146.6,29.1,6.6,282,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2155,2198
$GC,2952,0.77,146.6,15.7,7.0,305,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2155,2198
$GC,3026,0.77,146.6,10.7,6.6,318,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2155,2198
$GC,3100,0.77,146.6,6.2,6.1,331,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2155,2198
$GC,3175,0.79,161.3,2.7,4.6,344,3192,0.00,2.38,10.75,0.806,4,0.000,0.051,3077,3562,2141
$STATE,3197,end climb,SURFACE_DEPTH_REACHED
$STATE,3197,begin surface coast
$FINISH,0.3,1.013475
$STATE,3249,end surface coast,CONTROL_FINISHED_OK
$STATE,3249,begin surface
$SM_CCo,3268,62.40,0.682,0,0,1576,300.00
$SM_GC,1.21,0.00,0.00,62.40,0.000,0.000,0.682,13,2238,1576,-8.77,-0.34,300.00
$IRIDIUM_FIX,4748.51,-12224.57,160907,040438
$TT8_MAMPS,0.026845
$HUMID,1858
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,51.7
$24V_AH,24.6,28.109
$10V_AH,10.8,13.521
$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,20.575,23.150,232.450,62.400,0.000,37.330,38.631,97.500,0.500,0.000,0.000,16.133,574.428,1678.822,358.721,716.082,289.320,33.335,734.738,0.000,724.702,0.000,2.527
$DEVICE_MAMPS,213.226,65.195,806.117,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.422,274.767,602.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,357
$CFSIZE,260165632,250642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,022145,4805.312,-12221.212,9,1.5,10,18.3