version: 66.02
glider: 128
mission: 2
dive: 106
start: 9 9 107 12 54 46
data:
$ID,128
$MISSION,2
$DIVE,106
$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,-61271.914
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,124933,4806.188,-12221.973,7,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.8
$GPS2,125345,4806.152,-12221.939,13,1.8,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.114
$KALMAN_X,8735.8,71.5,-79.1,-6310.8,135.8
$KALMAN_Y,2705.4,-123.5,92.1,-6958.8,-21.1
$MHEAD_RNG_PITCHd_Wd,294.1,4267,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,105,0.00,0.00,-82.32,0.000,2,0.000,0.000,15,2168,3396
$GC,107,-0.78,-146.6,3.5,-3.6,15,120,10.43,0.00,0.00,0.000,6,0.216,0.000,2561,2169,3399
$GC,187,-0.78,-146.6,15.1,-8.5,29,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2169,3401
$GC,260,-0.78,-146.6,20.2,-6.8,42,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2169,3401
$GC,451,-0.78,-146.6,33.4,-6.8,60,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2169,3401
$GC,642,-0.78,-146.6,46.5,-6.8,78,646,0.00,2.30,0.00,0.000,4,0.000,0.053,2557,3548,3401
$GC,692,-0.78,-146.6,49.9,-6.5,82,696,0.00,2.25,0.00,0.000,6,0.000,0.030,2557,2136,3401
$GC,888,-0.78,-146.6,62.8,-6.5,100,892,0.00,2.35,0.00,0.000,4,0.000,0.051,2555,3542,3401
$GC,927,-0.78,-146.6,65.3,-6.7,103,931,0.00,2.22,0.00,0.000,6,0.000,0.029,2555,2138,3401
$GC,1252,-0.78,-146.6,86.2,-6.5,133,1256,0.00,2.35,0.00,0.000,4,0.000,0.051,2555,3549,3401
$STATE,1312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1312,begin apogee
$GC,1318,-0.23,0.0,90.3,6.8,138,1435,0.57,0.00,112.50,0.802,6,0.114,0.000,2740,2077,2800
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1438,0.78,146.6,93.1,0.0,150,1557,1.00,0.00,112.68,0.732,6,0.081,0.000,3063,2077,2202
$GC,1874,0.78,146.6,65.9,7.5,192,1878,0.00,2.35,0.00,0.000,4,0.000,0.048,3063,3470,2200
$GC,1918,0.78,146.6,62.3,8.2,196,1922,0.00,2.25,0.00,0.000,6,0.000,0.034,3066,2093,2200
$GC,2245,0.78,146.6,39.1,6.6,226,2249,0.00,2.30,0.00,0.000,4,0.000,0.048,3067,3470,2199
$GC,2284,0.78,146.6,36.1,7.1,229,2288,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,2068,2199
$GC,2480,0.78,146.6,22.8,6.5,247,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2068,2199
$GC,2680,0.78,146.6,9.9,6.3,279,2686,0.00,2.33,0.00,0.000,4,0.000,0.048,3068,3470,2199
$GC,2726,0.78,146.6,6.7,6.9,287,2732,0.00,2.25,0.00,0.000,6,0.000,0.035,3069,2067,2199
$GC,2800,0.80,165.6,2.6,5.4,300,2818,0.00,2.35,14.07,0.868,4,0.000,0.046,3069,676,2124
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2823,begin surface coast
$FINISH,0.4,1.025079
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2882,81.20,0.726,0,0,1372,350.04
$SM_GC,1.21,0.00,0.00,81.20,0.000,0.000,0.726,17,2147,1372,-8.76,-0.11,350.04
$IRIDIUM_FIX,4748.51,-12220.12,090907,151531
$TT8_MAMPS,0.026845
$HUMID,1830
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,54.5
$24V_AH,24.3,17.011
$10V_AH,10.8,6.800
$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,20.675,32.400,239.250,81.200,0.000,39.495,39.715,99.320,0.250,0.000,0.000,15.080,523.959,1455.468,372.411,626.049,263.467,33.339,701.825,0.000,639.175,0.000,2.526
$DEVICE_MAMPS,215.527,52.923,868.244,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.986,244.121,524.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15959,311
$CFSIZE,260165632,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,134457,4806.341,-12222.125,13,1.8,14,18.3