version: 66.02
glider: 128
mission: 2
dive: 3
start: 9 5 107 20 44 57
data:
$ID,128
$MISSION,2
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,60
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59137.23
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2854
$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
$GPS1,203944,4808.691,-12223.834,7,2.0,13,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.4
$GPS2,204403,4808.710,-12223.814,13,1.8,13,18.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.045,-0.257
$KALMAN_X,68.7,35.1,34.2,-37.0,35.8
$KALMAN_Y,348.5,200.8,195.9,-292.7,207.2
$MHEAD_RNG_PITCHd_Wd,171.4,1336,-18.2,-10.000
$D_GRID,93
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-146.6,0.0,0.0,0,119,0.00,0.00,-98.20,0.000,2,0.000,0.000,24,2076,3229
$GC,121,-1.25,-146.6,3.3,-8.4,18,145,9.88,2.35,-4.72,0.000,4,0.221,0.059,2456,3485,3455
$GC,185,-1.25,-146.6,11.6,-8.4,29,192,0.00,2.20,0.00,0.000,6,0.000,0.027,2456,2080,3457
$GC,259,-1.25,-146.6,18.9,-9.9,42,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2080,3458
$GC,329,-1.25,-146.6,26.2,-10.6,50,333,0.00,2.30,0.00,0.000,4,0.000,0.046,2446,3490,3459
$GC,373,-1.25,-146.6,31.0,-11.7,54,377,0.00,2.20,0.00,0.000,6,0.000,0.027,2445,2078,3459
$GC,570,-1.25,-146.6,52.7,-10.9,72,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2078,3459
$GC,888,-1.25,-146.6,88.4,-11.3,102,892,0.00,2.28,0.00,0.000,4,0.000,0.047,2439,3486,3459
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,937,-0.29,0.0,93.6,11.7,106,1055,1.05,0.00,111.28,0.845,6,0.126,0.000,2765,2075,2854
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1057,1.25,146.6,95.9,0.0,118,1178,1.50,2.45,109.18,0.680,4,0.070,0.044,3267,3481,2255
$GC,1362,1.25,146.6,68.8,13.4,146,1370,0.00,2.25,0.00,0.000,6,0.000,0.029,3278,2096,2255
$GC,1690,1.25,146.6,32.0,11.1,177,1694,0.00,2.28,0.00,0.000,4,0.000,0.041,3288,676,2254
$GC,1751,1.25,146.6,25.0,11.3,182,1755,0.00,2.22,0.00,0.000,6,0.000,0.033,3288,2085,2254
$GC,1957,1.25,146.6,3.1,11.1,214,1963,0.00,2.28,0.00,0.000,4,0.000,0.047,3288,3489,2252
$STATE,1973,end climb,SURFACE_DEPTH_REACHED
$STATE,1973,begin surface coast
$FINISH,1.4,1.022942
$STATE,1996,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2015,125.25,0.706,0,0,1222,400.08
$SM_GC,1.22,0.00,0.00,125.25,0.000,0.000,0.706,8,2067,1222,-8.95,-0.37,400.08
$IRIDIUM_FIX,4751.72,-12220.85,060907,000008
$TT8_MAMPS,0.026078
$HUMID,1869
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,68.1,30.6
$24V_AH,24.7,8.508
$10V_AH,10.9,2.931
$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,22.025,27.250,220.450,125.250,0.000,0.000,0.000,0.000,2.250,0.000,0.000,14.853,369.900,904.891,408.432,486.022,45.214,31.412,692.551,0.000,494.024,0.000,2.500
$DEVICE_MAMPS,220.896,59.059,845.234,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,158.630,169.054,373.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9616,221
$CFSIZE,260165632,257441792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050907,212121,4808.497,-12223.802,10,1.7,10,18.3