version: 66.02
glider: 128
mission: 2
dive: 107
start: 9 9 107 13 50 56
data:
$ID,128
$MISSION,2
$DIVE,107
$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,-61307.215
$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,35
$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
$GPS1,134457,4806.341,-12222.125,13,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.5
$GPS2,134956,4806.313,-12222.097,16,1.8,33,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.112
$KALMAN_X,8895.8,88.3,-76.4,-6684.1,162.7
$KALMAN_Y,2663.8,-105.1,72.0,-6616.5,-43.6
$MHEAD_RNG_PITCHd_Wd,293.0,3910,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-81.80,0.000,6,0.000,0.000,17,2147,3398
$GC,106,-0.78,-146.6,3.9,-4.1,15,125,10.43,2.40,0.00,0.000,4,0.216,0.048,2551,3560,3402
$GC,215,-0.78,-146.6,18.3,-7.9,34,221,0.00,2.30,0.00,0.000,6,0.000,0.030,2551,2135,3403
$GC,291,-0.78,-146.6,23.9,-7.2,43,295,0.00,2.40,0.00,0.000,4,0.000,0.052,2549,3560,3404
$GC,324,-0.78,-146.6,26.4,-7.5,46,328,0.00,2.28,0.00,0.000,6,0.000,0.029,2549,2143,3404
$GC,520,-0.78,-146.6,41.1,-7.9,64,524,0.00,2.40,0.00,0.000,4,0.000,0.053,2549,3566,3404
$GC,548,-0.78,-146.6,43.1,-8.1,66,552,0.00,2.28,0.00,0.000,6,0.000,0.029,2548,2139,3404
$GC,744,-0.78,-146.6,56.8,-6.9,84,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2139,3404
$GC,1063,-0.78,-146.6,78.7,-6.9,114,1067,0.00,2.38,0.00,0.000,4,0.000,0.052,2545,3562,3404
$GC,1130,-0.78,-146.6,83.2,-6.7,119,1136,0.00,2.22,0.00,0.000,6,0.000,0.029,2546,2136,3404
$STATE,1240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1240,begin apogee
$GC,1244,-0.23,0.0,90.5,6.7,130,1363,0.65,0.00,113.25,0.800,6,0.114,0.000,2748,2069,2800
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1366,0.78,146.6,93.0,0.0,142,1483,0.98,0.00,112.60,0.729,6,0.081,0.000,3064,2069,2202
$GC,1796,0.78,146.6,66.2,6.9,183,1800,0.00,2.40,0.00,0.000,4,0.000,0.051,3064,3493,2199
$GC,1853,0.78,146.6,61.7,8.2,188,1857,0.00,2.30,0.00,0.000,6,0.000,0.034,3068,2090,2199
$GC,2177,0.78,146.6,39.1,6.6,218,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2090,2199
$GC,2368,0.78,146.6,26.6,6.3,236,2372,0.00,2.35,0.00,0.000,4,0.000,0.051,3068,3498,2199
$GC,2411,0.78,146.6,23.5,7.3,239,2418,0.00,2.33,0.00,0.000,6,0.000,0.034,3069,2077,2199
$GC,2619,0.78,146.6,10.3,6.3,271,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2077,2199
$GC,2692,0.78,146.6,5.8,6.1,284,2698,0.00,2.35,0.00,0.000,4,0.000,0.050,3069,3493,2199
$GC,2721,0.78,146.6,3.9,6.1,289,2727,0.00,2.28,0.00,0.000,6,0.000,0.033,3077,2078,2198
$STATE,2759,end climb,SURFACE_DEPTH_REACHED
$STATE,2760,begin surface coast
$FINISH,0.5,1.011963
$STATE,2800,end surface coast,CONTROL_FINISHED_OK
$STATE,2800,begin surface
$SM_CCo,2816,95.85,0.755,0,0,1373,350.04
$SM_GC,1.21,0.00,0.00,95.85,0.000,0.000,0.755,8,2171,1373,-8.79,0.59,350.04
$IRIDIUM_FIX,4748.51,-12224.57,090907,161658
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.6,50.2
$24V_AH,24.3,17.091
$10V_AH,10.8,6.840
$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,20.700,32.825,225.850,95.850,0.000,37.146,48.293,117.617,0.250,0.000,0.000,34.673,512.701,1420.732,378.923,634.992,289.146,33.337,709.315,0.000,628.249,0.000,3.292
$DEVICE_MAMPS,216.294,138.827,799.981,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.044,237.902,511.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,303
$CFSIZE,260165632,254689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090907,144038,4806.505,-12222.284,35,1.3,36,18.3