version: 66.02
glider: 128
mission: 2
dive: 59
start: 9 7 107 16 51 36
data:
$ID,128
$MISSION,2
$DIVE,59
$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,45
$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,-60335.383
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,164602,4807.820,-12223.690,35,1.3,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.2
$GPS2,165039,4807.821,-12223.657,13,1.3,13,18.3
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,0.096
$KALMAN_X,4733.9,126.4,130.8,-4696.8,93.4
$KALMAN_Y,1035.3,-4.1,6.9,-2230.8,71.4
$MHEAD_RNG_PITCHd_Wd,278.3,538,-13.5,-6.667
$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,-0.77,-128.3,0.0,0.0,0,93,0.00,0.00,-72.35,0.000,2,0.000,0.000,6,2129,3227
$GC,96,-0.79,-146.6,3.7,-5.3,13,115,10.62,2.38,-3.33,0.000,4,0.222,0.058,2559,743,3401
$GC,418,-0.79,-146.6,33.4,-7.2,54,425,0.00,2.30,0.00,0.000,6,0.000,0.036,2557,2156,3403
$GC,615,-0.79,-146.6,46.9,-6.7,73,619,0.00,2.33,0.00,0.000,4,0.000,0.044,2557,739,3403
$GC,669,-0.79,-146.6,50.7,-7.0,77,676,0.00,2.33,0.00,0.000,6,0.000,0.037,2556,2152,3403
$GC,996,-0.79,-146.6,72.5,-6.7,108,1000,0.00,2.33,0.00,0.000,4,0.000,0.054,2556,3555,3403
$GC,1083,-0.79,-146.6,78.8,-6.9,115,1091,0.00,2.28,0.00,0.000,6,0.000,0.030,2556,2138,3403
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1252,-0.23,0.0,90.1,6.9,131,1371,0.60,0.00,112.88,0.813,6,0.114,0.000,2742,2075,2799
$STATE,1372,end apogee,CONTROL_FINISHED_OK
$STATE,1372,begin climb
$GC,1373,0.79,146.6,92.7,0.0,143,1492,1.00,2.42,111.30,0.697,4,0.084,0.047,3071,687,2202
$GC,1524,0.79,146.6,85.7,6.7,157,1532,0.00,2.38,0.00,0.000,6,0.000,0.035,3071,2071,2201
$GC,1850,0.79,146.6,63.1,6.8,188,1854,0.00,2.38,0.00,0.000,4,0.000,0.051,3071,3489,2200
$GC,1934,0.79,146.6,56.6,8.0,195,1938,0.00,2.28,0.00,0.000,6,0.000,0.033,3079,2090,2200
$GC,2260,0.79,148.6,34.3,6.6,225,2264,0.00,2.33,0.00,0.000,4,0.000,0.048,3083,671,2200
$GC,2303,0.79,148.6,31.1,6.7,228,2311,0.00,2.33,0.00,0.000,6,0.000,0.036,3083,2087,2200
$GC,2503,0.81,163.0,18.5,6.2,249,2521,0.00,2.40,13.57,0.833,4,0.000,0.052,3083,3485,2135
$GC,2571,0.81,163.0,13.6,7.4,261,2578,0.00,2.33,0.00,0.000,6,0.000,0.033,3090,2073,2134
$GC,2645,0.81,163.0,8.6,6.8,274,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2073,2134
$GC,2720,0.81,163.0,3.6,6.8,287,2726,0.00,2.38,0.00,0.000,4,0.000,0.051,3091,3488,2134
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,1.6,1.024553
$STATE,2754,end surface coast,CONTROL_FINISHED_OK
$STATE,2754,begin surface
$SM_CCo,2772,97.70,0.718,0,0,1372,350.04
$SM_GC,1.34,0.00,0.00,97.70,0.000,0.000,0.718,6,2137,1372,-8.80,-0.37,350.04
$IRIDIUM_FIX,4751.72,-12226.29,070907,191928
$TT8_MAMPS,0.026845
$HUMID,1842
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.5,55.8
$24V_AH,24.4,13.228
$10V_AH,10.8,4.876
$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,21.175,37.400,237.750,97.700,0.000,40.053,52.325,108.166,0.500,0.000,0.000,19.205,496.853,1365.364,384.595,646.332,276.220,33.347,730.511,0.000,652.390,0.000,2.528
$DEVICE_MAMPS,221.663,95.875,832.962,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.213,230.380,494.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,293
$CFSIZE,260165632,256040960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,174009,4807.997,-12224.004,9,1.1,9,18.3