version: 66.02
glider: 128
mission: 2
dive: 105
start: 9 9 107 12 0 3
data:
$ID,128
$MISSION,2
$DIVE,105
$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,-61256.207
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,115307,4806.006,-12221.817,12,1.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.7
$GPS2,115902,4805.972,-12221.800,9,1.0,14,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.124
$KALMAN_X,8536.8,64.3,-44.9,-5966.6,78.8
$KALMAN_Y,2754.5,-136.4,92.1,-7327.5,2.4
$MHEAD_RNG_PITCHd_Wd,298.4,4637,-13.2,-6.000
$D_GRID,108
$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,-146.6,0.0,0.0,0,109,0.00,0.00,-83.60,0.000,6,0.000,0.000,7,2163,3398
$GC,111,-0.78,-146.6,4.1,-4.7,16,129,10.60,2.40,0.00,0.000,4,0.221,0.044,2560,738,3401
$GC,197,-0.78,-146.6,16.9,-8.1,31,203,0.00,2.33,0.00,0.000,6,0.000,0.038,2557,2151,3402
$GC,275,-0.78,-146.6,22.3,-7.1,42,279,0.00,2.38,0.00,0.000,4,0.000,0.054,2551,3560,3402
$GC,306,-0.78,-146.6,24.7,-7.3,44,314,0.00,2.33,0.00,0.000,6,0.000,0.031,2551,2140,3402
$GC,504,-0.78,-146.6,38.3,-7.0,63,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2140,3402
$GC,695,-0.78,-146.6,51.4,-6.8,81,699,0.00,2.38,0.00,0.000,4,0.000,0.051,2547,3559,3402
$GC,734,-0.78,-146.6,54.1,-7.1,84,738,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2145,3402
$GC,1058,-0.78,-146.6,75.4,-6.5,114,1063,0.00,2.35,0.00,0.000,4,0.000,0.051,2544,3556,3402
$GC,1132,-0.78,-146.6,80.6,-7.1,120,1136,0.00,2.22,0.00,0.000,6,0.000,0.028,2544,2144,3402
$STATE,1274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1274,begin apogee
$GC,1278,-0.23,0.0,90.2,6.9,133,1397,0.65,0.00,112.75,0.788,6,0.115,0.000,2746,2078,2799
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1399,0.78,146.6,92.6,0.0,145,1516,0.98,0.00,111.88,0.712,6,0.081,0.000,3063,2077,2202
$GC,1832,0.78,146.6,65.4,6.9,186,1836,0.00,2.38,0.00,0.000,4,0.000,0.048,3064,3491,2200
$GC,1880,0.78,146.6,61.5,7.6,190,1888,0.00,2.30,0.00,0.000,6,0.000,0.033,3067,2096,2199
$GC,2206,0.78,146.6,39.1,7.0,221,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2096,2199
$GC,2397,0.78,146.6,26.4,6.3,239,2401,0.00,2.33,0.00,0.000,4,0.000,0.049,3067,3495,2199
$GC,2428,0.78,146.6,24.0,7.4,241,2436,0.00,2.33,0.00,0.000,6,0.000,0.034,3071,2076,2199
$GC,2634,0.78,146.6,11.2,6.2,272,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2076,2199
$GC,2708,0.79,157.1,7.0,5.7,285,2726,0.00,2.40,9.25,0.810,4,0.000,0.049,3071,3486,2159
$GC,2743,0.79,157.1,4.8,6.1,291,2749,0.00,2.30,0.00,0.000,6,0.000,0.035,3072,2067,2159
$STATE,2786,end climb,SURFACE_DEPTH_REACHED
$STATE,2787,begin surface coast
$FINISH,0.5,1.015743
$STATE,2822,end surface coast,CONTROL_FINISHED_OK
$STATE,2822,begin surface
$SM_CCo,2837,89.78,0.732,0,0,1372,350.04
$SM_GC,1.20,0.00,0.00,89.78,0.000,0.000,0.732,15,2168,1372,-8.77,0.51,350.04
$IRIDIUM_FIX,4748.51,-12220.12,090907,151540
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,32.2
$24V_AH,24.3,16.933
$10V_AH,10.8,6.760
$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,20.900,32.850,233.875,89.775,0.000,38.968,95.423,125.154,0.750,0.000,0.000,16.060,510.854,1424.752,380.536,630.972,362.099,33.337,723.218,0.000,637.432,0.000,7.817
$DEVICE_MAMPS,220.896,92.807,809.952,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.840,237.868,514.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15914,305
$CFSIZE,260165632,254750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,124933,4806.188,-12221.973,7,1.8,8,18.3