version: 66.02
glider: 128
mission: 2
dive: 4
start: 9 5 107 21 49 58
data:
$ID,128
$MISSION,2
$DIVE,4
$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,-59225.953
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2840
$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,44
$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
$GPS1,214450,4808.570,-12223.715,10,1.8,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.0
$GPS2,214903,4808.579,-12223.703,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.081,-0.248
$KALMAN_X,196.5,76.0,59.9,-96.9,23.2
$KALMAN_Y,484.2,263.1,228.8,-766.9,85.3
$MHEAD_RNG_PITCHd_Wd,179.8,1134,-18.2,-10.000
$D_GRID,97
$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,17,begin dive
$GC,18,-1.25,-146.6,0.0,0.0,0,97,0.00,0.00,-76.40,0.000,2,0.000,0.000,8,2067,3236
$GC,100,-1.25,-146.6,3.4,-8.5,14,118,9.90,0.00,-4.40,0.000,6,0.222,0.000,2429,2066,3454
$GC,185,-1.25,-146.6,15.4,-10.4,29,191,0.00,2.33,0.00,0.000,4,0.000,0.047,2420,3483,3457
$GC,225,-1.25,-146.6,20.0,-11.6,36,231,0.00,2.22,0.00,0.000,6,0.000,0.028,2420,2066,3457
$GC,294,-1.25,-146.6,28.3,-12.3,43,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2065,3458
$GC,485,-1.25,-146.6,51.8,-12.0,61,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2065,3459
$GC,803,-1.25,-146.6,90.5,-12.2,91,807,0.00,2.33,0.00,0.000,4,0.000,0.048,2412,3485,3459
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,862,-0.29,0.0,97.6,12.4,95,979,1.05,0.00,111.15,0.803,6,0.130,0.000,2736,2068,2854
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,981,1.25,146.6,98.8,0.0,107,1103,1.55,2.47,109.47,0.681,4,0.085,0.044,3236,3481,2256
$GC,1238,1.25,146.6,79.0,11.8,131,1242,0.00,2.25,0.00,0.000,6,0.000,0.030,3247,2091,2255
$GC,1564,1.26,152.7,44.4,9.7,161,1576,0.00,2.28,6.10,0.697,4,0.000,0.041,3255,674,2231
$GC,1677,1.26,152.7,32.3,10.5,171,1681,0.00,2.25,0.00,0.000,6,0.000,0.033,3255,2091,2230
$GC,1878,1.27,162.6,12.2,9.5,196,1890,0.00,0.00,9.00,0.779,6,0.000,0.000,3255,2092,2191
$GC,1957,1.28,171.7,4.5,9.6,210,1970,0.00,2.35,7.53,0.749,4,0.000,0.047,3255,3486,2154
$STATE,1986,end climb,SURFACE_DEPTH_REACHED
$STATE,1986,begin surface coast
$FINISH,1.0,1.023191
$STATE,2003,end surface coast,CONTROL_FINISHED_OK
$STATE,2004,begin surface
$SM_CCo,2022,107.75,0.676,0,0,1223,400.08
$SM_GC,1.36,0.00,0.00,107.75,0.000,0.000,0.676,14,2069,1223,-8.83,-0.28,400.08
$IRIDIUM_FIX,4751.72,-12220.85,060907,010110
$TT8_MAMPS,0.026845
$HUMID,1858
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,72.5,30.7
$24V_AH,24.6,8.621
$10V_AH,10.9,2.973
$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,22.025,22.975,243.250,107.750,0.000,0.000,0.000,0.000,1.250,0.000,0.000,14.372,368.241,928.359,387.504,474.718,43.746,32.335,660.951,0.000,482.074,0.000,2.499
$DEVICE_MAMPS,222.430,47.554,803.049,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,157.459,165.897,368.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9691,218
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050907,222614,4808.357,-12223.794,7,1.5,13,18.3