version: 66.02
glider: 128
mission: 2
dive: 57
start: 9 7 107 14 56 36
data:
$ID,128
$MISSION,2
$DIVE,57
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,45
$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,45
$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,350
$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,-60300.824
$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,22
$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,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$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
$GPS1,145121,4807.443,-12223.120,10,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.2
$GPS2,145539,4807.435,-12223.117,14,2.0,14,18.3
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.190,0.123
$KALMAN_X,4410.8,84.6,101.5,-3634.5,126.8
$KALMAN_Y,928.4,15.7,-59.7,-2796.1,38.9
$MHEAD_RNG_PITCHd_Wd,284.6,1513,-12.4,-6.667
$D_GRID,107
$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,20,-0.75,-146.6,0.0,0.0,0,94,0.00,0.00,-71.90,0.000,2,0.000,0.000,13,2161,3194
$GC,97,-0.75,-146.6,3.6,-5.1,13,121,10.60,2.42,-4.03,0.000,4,0.220,0.065,2562,3557,3402
$GC,424,-0.75,-146.6,32.8,-7.2,56,428,0.00,2.28,0.00,0.000,6,0.000,0.031,2562,2141,3404
$GC,621,-0.75,-146.6,46.3,-6.9,74,625,0.00,2.38,0.00,0.000,4,0.000,0.053,2561,3555,3404
$GC,652,-0.75,-146.6,48.7,-7.6,76,660,0.00,2.28,0.00,0.000,6,0.000,0.029,2562,2149,3404
$GC,851,-0.75,-146.6,61.7,-6.5,95,855,0.00,2.35,0.00,0.000,4,0.000,0.052,2561,3556,3404
$GC,888,-0.75,-146.6,64.4,-6.5,98,895,0.00,2.28,0.00,0.000,6,0.000,0.030,2561,2145,3404
$GC,1213,-0.75,-146.6,85.9,-6.7,129,1217,0.00,2.38,0.00,0.000,4,0.000,0.053,2561,3566,3404
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1275,begin apogee
$GC,1281,-0.23,0.0,90.1,6.4,134,1399,0.55,0.00,113.30,0.830,6,0.112,0.000,2738,2068,2800
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1401,0.75,146.6,93.0,0.0,146,1522,0.98,0.00,111.50,0.694,6,0.083,0.000,3051,2068,2202
$GC,1839,0.77,164.5,68.6,6.1,188,1861,0.00,2.45,14.82,0.836,4,0.000,0.051,3051,3485,2129
$GC,1906,0.77,164.5,63.8,8.1,194,1911,0.00,2.30,0.00,0.000,6,0.000,0.033,3053,2091,2129
$GC,2231,0.78,172.5,42.3,6.4,224,2244,0.00,2.42,7.93,0.778,4,0.000,0.047,3054,667,2096
$GC,2259,0.79,179.1,40.2,6.5,226,2271,0.00,2.35,6.82,0.751,6,0.000,0.035,3054,2083,2069
$GC,2463,0.79,182.9,27.2,6.6,245,2474,0.00,2.35,4.65,0.643,4,0.000,0.051,3054,3484,2054
$GC,2508,0.79,182.9,23.8,7.3,249,2513,0.00,2.30,0.00,0.000,6,0.000,0.033,3055,2073,2054
$GC,2714,0.81,197.7,10.4,6.2,280,2732,0.00,2.38,12.75,0.826,4,0.000,0.050,3054,3482,1993
$GC,2766,0.81,197.7,6.9,7.0,289,2772,0.00,2.30,0.00,0.000,6,0.000,0.033,3055,2076,1992
$GC,2840,0.85,233.4,2.5,5.6,302,2859,0.12,0.00,15.75,0.820,2,0.064,0.000,3119,2076,1910
$STATE,2859,end climb,SURFACE_DEPTH_REACHED
$STATE,2859,begin surface coast
$FINISH,0.4,1.023148
$STATE,2904,end surface coast,CONTROL_FINISHED_OK
$STATE,2904,begin surface
$SM_CCo,2920,68.75,0.706,0,0,1373,350.04
$SM_GC,2.04,0.00,0.00,68.75,0.000,0.000,0.706,6,2169,1373,-8.79,0.54,350.04
$IRIDIUM_FIX,4751.72,-12226.29,070907,171701
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.5,999.0
$24V_AH,24.4,13.062
$10V_AH,10.8,4.792
$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,21.275,37.775,287.525,68.750,0.000,38.212,46.286,100.844,1.500,0.000,0.000,15.625,520.981,1417.141,388.714,677.701,264.823,33.348,755.360,0.000,681.533,0.000,11.221
$DEVICE_MAMPS,220.129,65.195,836.030,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.406,242.679,528.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15988,313
$CFSIZE,260165632,256094208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,154901,4807.700,-12223.363,121,1.7,122,18.3