version: 66.02
glider: 128
mission: 2
dive: 56
start: 9 7 107 14 1 7
data:
$ID,128
$MISSION,2
$DIVE,56
$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,-60284.57
$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
$GPS1,135539,4807.204,-12222.889,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.8
$GPS2,140009,4807.186,-12222.891,13,2.0,13,18.3
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,0.142
$KALMAN_X,4279.7,62.7,63.0,-3163.2,139.6
$KALMAN_Y,842.9,35.2,-63.8,-3185.8,-12.1
$MHEAD_RNG_PITCHd_Wd,290.5,2038,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,93,0.00,0.00,-71.88,0.000,2,0.000,0.000,11,2066,3223
$GC,95,-0.75,-146.6,3.8,-5.6,13,120,10.57,2.62,-3.53,0.000,4,0.218,0.064,2562,3561,3402
$GC,344,-0.75,-146.6,26.4,-7.1,50,348,0.00,2.30,0.00,0.000,6,0.000,0.030,2563,2134,3403
$GC,541,-0.75,-146.6,39.8,-6.9,68,545,0.00,2.40,0.00,0.000,4,0.000,0.053,2563,3556,3403
$GC,585,-0.75,-146.6,42.9,-7.0,72,589,0.00,2.25,0.00,0.000,6,0.000,0.029,2562,2146,3403
$GC,782,-0.75,-146.6,56.2,-6.6,90,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2145,3404
$GC,1101,-0.75,-146.6,76.9,-6.3,120,1105,0.00,2.35,0.00,0.000,4,0.000,0.054,2562,3556,3404
$GC,1168,-0.75,-146.6,81.5,-6.8,126,1172,0.00,2.22,0.00,0.000,6,0.000,0.030,2562,2150,3404
$STATE,1302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1306,-0.23,0.0,90.2,6.5,138,1424,0.55,0.00,113.15,0.838,6,0.113,0.000,2739,2076,2800
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1426,0.75,146.6,93.0,0.0,150,1547,0.98,2.40,111.85,0.696,4,0.084,0.046,3057,689,2201
$GC,1563,0.77,164.3,87.6,6.1,163,1583,0.00,2.40,15.07,0.768,6,0.000,0.035,3057,2095,2129
$GC,1909,0.77,164.3,63.9,6.7,196,1913,0.00,2.33,0.00,0.000,4,0.000,0.050,3057,3486,2127
$GC,1981,0.77,164.3,58.2,8.3,202,1985,0.00,2.28,0.00,0.000,6,0.000,0.033,3062,2081,2127
$GC,2312,0.78,173.7,35.8,6.4,233,2322,0.00,0.00,8.38,0.786,6,0.000,0.000,3062,2081,2092
$GC,2512,0.79,179.4,22.6,6.5,252,2524,0.00,2.38,6.38,0.747,4,0.000,0.051,3062,3496,2067
$GC,2547,0.79,179.4,20.2,6.9,255,2551,0.00,2.33,0.00,0.000,6,0.000,0.033,3065,2070,2067
$GC,2754,0.81,199.5,6.6,6.0,291,2778,0.00,2.42,16.27,0.834,4,0.000,0.051,3065,3494,1986
$GC,2800,0.81,199.5,3.4,7.1,299,2807,0.00,2.33,0.00,0.000,6,0.000,0.035,3065,2074,1986
$STATE,2833,end climb,SURFACE_DEPTH_REACHED
$STATE,2833,begin surface coast
$FINISH,0.9,1.023860
$STATE,2874,end surface coast,CONTROL_FINISHED_OK
$STATE,2874,begin surface
$SM_CCo,2890,78.57,0.706,0,0,1372,350.04
$SM_GC,1.08,0.00,0.00,78.57,0.000,0.000,0.706,13,2161,1372,-8.77,0.31,350.04
$IRIDIUM_FIX,4748.51,-12224.57,070907,171730
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.3,999.0
$24V_AH,24.4,12.976
$10V_AH,10.8,4.752
$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,20.950,33.225,271.100,78.575,0.000,39.699,48.532,110.444,1.250,0.000,0.000,14.525,522.000,1435.207,375.522,654.887,275.450,33.341,727.931,0.000,662.041,0.000,8.481
$DEVICE_MAMPS,217.828,79.768,837.564,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.496,244.759,526.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15983,312
$CFSIZE,260165632,256122880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,145121,4807.443,-12223.120,10,2.0,11,18.3