version: 66.02
glider: 128
mission: 2
dive: 104
start: 9 9 107 11 4 40
data:
$ID,128
$MISSION,2
$DIVE,104
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,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,-61239.52
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,105914,4805.798,-12221.660,7,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,110339,4805.767,-12221.648,13,1.7,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.126
$KALMAN_X,8340.1,61.0,7.7,-5632.5,33.6
$KALMAN_Y,2802.7,-156.3,58.8,-7703.6,57.5
$MHEAD_RNG_PITCHd_Wd,299.8,5055,-13.2,-6.000
$D_GRID,110
$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,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-82.18,0.000,6,0.000,0.000,5,2169,3398
$GC,106,-0.78,-146.6,3.5,-3.7,15,125,10.57,2.35,0.00,0.000,4,0.219,0.050,2551,3547,3403
$GC,187,-0.78,-146.6,15.7,-9.1,29,193,0.00,2.30,0.00,0.000,6,0.000,0.029,2551,2127,3403
$GC,260,-0.78,-146.6,21.1,-7.2,41,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2127,3404
$GC,451,-0.78,-146.6,34.9,-7.0,59,455,0.00,2.40,0.00,0.000,4,0.000,0.052,2549,3555,3404
$GC,478,-0.78,-146.6,37.0,-7.6,61,484,0.00,2.25,0.00,0.000,6,0.000,0.029,2549,2140,3404
$GC,675,-0.78,-146.6,50.9,-6.7,80,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2140,3404
$GC,993,-0.78,-146.6,72.4,-6.7,110,997,0.00,2.35,0.00,0.000,4,0.000,0.052,2543,3552,3404
$GC,1088,-0.78,-146.6,79.1,-6.9,118,1092,0.00,2.22,0.00,0.000,6,0.000,0.029,2543,2142,3405
$STATE,1251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1251,begin apogee
$GC,1256,-0.23,0.0,90.1,6.8,133,1375,0.65,0.00,113.10,0.788,6,0.114,0.000,2745,2077,2799
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,0.78,146.6,92.5,0.0,145,1496,0.98,2.42,111.90,0.704,4,0.081,0.045,3069,689,2202
$GC,1514,0.78,146.6,86.4,6.9,158,1518,0.00,2.38,0.00,0.000,6,0.000,0.036,3069,2077,2201
$GC,1840,0.78,146.6,62.6,7.2,188,1844,0.00,2.38,0.00,0.000,4,0.000,0.051,3069,3493,2199
$GC,1924,0.78,146.6,55.7,8.0,195,1928,0.00,2.30,0.00,0.000,6,0.000,0.034,3075,2087,2199
$GC,2248,0.78,146.6,32.3,6.8,225,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2087,2199
$GC,2439,0.78,146.6,19.6,6.3,243,2445,0.00,2.35,0.00,0.000,4,0.000,0.051,3075,3495,2199
$GC,2473,0.78,146.6,17.3,6.4,249,2480,0.00,2.30,0.00,0.000,6,0.000,0.033,3082,2070,2199
$GC,2547,0.78,146.6,12.5,6.6,262,2553,0.00,2.30,0.00,0.000,4,0.000,0.049,3089,665,2199
$GC,2565,0.78,146.6,11.1,6.6,265,2571,0.00,2.30,0.00,0.000,6,0.000,0.037,3089,2087,2199
$GC,2639,0.78,146.6,6.3,6.6,278,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2087,2199
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,0.4,1.023712
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2750,93.95,0.723,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,93.95,0.000,0.000,0.723,7,2162,1372,-8.79,0.34,350.04
$IRIDIUM_FIX,4748.51,-12217.40,090907,141439
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.3,56.3
$24V_AH,24.4,16.852
$10V_AH,10.8,6.719
$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,20.875,32.750,225.000,93.950,0.000,40.655,43.308,107.121,0.500,0.000,0.000,14.724,500.304,1384.556,367.464,610.754,272.322,33.342,702.144,0.000,620.913,0.000,2.528
$DEVICE_MAMPS,219.362,93.574,787.709,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.733,230.389,497.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15962,295
$CFSIZE,260165632,254775296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,115307,4806.006,-12221.817,12,1.0,29,18.3