version: 66.02
glider: 128
mission: 2
dive: 55
start: 9 7 107 13 10 15
data:
$ID,128
$MISSION,2
$DIVE,55
$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,40
$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,-60269.418
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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
$GPS1,130407,4806.990,-12222.717,26,1.2,32,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.8
$GPS2,130920,4806.969,-12222.717,9,1.4,14,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.163
$KALMAN_X,4147.5,45.6,24.5,-2761.3,123.0
$KALMAN_Y,805.9,57.9,-53.0,-3583.6,-47.3
$MHEAD_RNG_PITCHd_Wd,295.5,2482,-14.0,-7.500
$D_GRID,105
$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,-0.82,-146.6,0.0,0.0,0,93,0.00,0.00,-72.03,0.000,2,0.000,0.000,15,2071,3194
$GC,95,-0.82,-146.6,3.6,-6.0,13,119,10.40,2.50,-4.25,0.000,4,0.216,0.064,2542,3507,3401
$GC,265,-0.82,-146.6,21.2,-7.5,42,270,0.00,2.30,0.00,0.000,6,0.000,0.030,2542,2085,3402
$GC,462,-0.82,-146.6,36.3,-7.5,60,466,0.00,2.40,0.00,0.000,4,0.000,0.053,2542,3508,3403
$GC,495,-0.82,-146.6,38.8,-7.4,63,499,0.00,2.28,0.00,0.000,6,0.000,0.030,2542,2090,3403
$GC,692,-0.82,-146.6,53.4,-7.4,81,696,0.00,2.40,0.00,0.000,4,0.000,0.053,2541,3516,3403
$GC,730,-0.82,-146.6,56.4,-7.6,84,734,0.00,2.28,0.00,0.000,6,0.000,0.030,2541,2091,3403
$GC,1056,-0.82,-146.6,79.9,-7.7,114,1060,0.00,2.38,0.00,0.000,4,0.000,0.052,2541,3512,3404
$GC,1122,-0.82,-146.6,85.3,-7.7,119,1129,0.00,2.28,0.00,0.000,6,0.000,0.030,2541,2096,3404
$STATE,1191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1194,-0.23,0.0,90.2,7.4,126,1314,0.65,0.00,113.85,0.862,6,0.115,0.000,2743,2095,2800
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1316,0.82,146.6,93.0,0.0,138,1438,1.08,2.50,111.60,0.697,4,0.082,0.046,3091,688,2201
$GC,1455,0.84,160.9,86.8,7.0,151,1472,0.00,2.40,12.75,0.777,6,0.000,0.035,3091,2082,2142
$GC,1789,0.84,160.9,60.2,8.1,183,1793,0.00,2.35,0.00,0.000,4,0.000,0.050,3091,3488,2141
$GC,1845,0.84,160.9,55.3,9.2,188,1849,0.00,2.30,0.00,0.000,6,0.000,0.033,3099,2079,2141
$GC,2169,0.84,160.9,30.3,7.8,218,2173,0.00,2.38,0.00,0.000,4,0.000,0.051,3099,3495,2141
$GC,2196,0.84,160.9,28.0,8.3,220,2200,0.00,2.30,0.00,0.000,6,0.000,0.033,3108,2075,2141
$GC,2398,0.84,161.1,12.5,7.5,246,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2074,2141
$GC,2472,0.84,166.9,7.1,7.3,259,2485,0.00,2.38,5.72,0.701,4,0.000,0.051,3108,3488,2118
$GC,2513,0.84,166.9,3.7,8.2,266,2519,0.00,2.30,0.00,0.000,6,0.000,0.035,3110,2071,2118
$STATE,2540,end climb,SURFACE_DEPTH_REACHED
$STATE,2540,begin surface coast
$FINISH,1.0,1.023675
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2569,begin surface
$SM_CCo,2585,92.68,0.729,0,0,1372,350.04
$SM_GC,1.34,0.00,0.00,92.68,0.000,0.000,0.729,11,2065,1372,-8.78,-0.99,350.04
$IRIDIUM_FIX,4751.72,-12312.79,070907,161613
$TT8_MAMPS,0.026845
$HUMID,1829
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,46.8
$24V_AH,24.4,12.891
$10V_AH,10.8,4.711
$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,21.075,37.700,243.925,92.675,0.000,41.084,46.853,152.198,0.250,0.000,0.000,16.267,467.167,1268.272,379.342,582.630,314.737,33.347,705.891,0.000,589.963,0.000,2.515
$DEVICE_MAMPS,215.527,64.428,862.108,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,198.852,215.628,465.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12788,276
$CFSIZE,260165632,256151552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,135539,4807.204,-12222.889,12,2.0,12,18.3