version: 66.02
glider: 128
mission: 2
dive: 76
start: 9 8 107 8 50 21
data:
$ID,128
$MISSION,2
$DIVE,76
$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,-60669.406
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,084132,4805.706,-12221.400,35,2.0,36,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.6
$GPS2,084921,4805.670,-12221.386,10,1.6,10,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.109
$KALMAN_X,6451.8,-6.5,37.1,-3379.5,41.1
$KALMAN_Y,2007.3,-0.6,-19.4,-7166.3,138.4
$MHEAD_RNG_PITCHd_Wd,291.7,5391,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-65.60,0.000,2,0.000,0.000,8,2166,3043
$GC,90,-0.78,-146.6,3.0,-3.0,12,114,10.55,2.35,-7.85,0.000,4,0.218,0.066,2552,3544,3400
$GC,260,-0.78,-146.6,19.3,-7.7,42,267,0.00,2.28,0.00,0.000,6,0.000,0.030,2552,2129,3402
$GC,336,-0.78,-146.6,24.8,-7.2,50,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2129,3403
$GC,527,-0.78,-146.6,38.2,-7.1,68,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2129,3404
$GC,718,-0.78,-146.6,51.2,-6.7,86,722,0.00,2.38,0.00,0.000,4,0.000,0.052,2552,3545,3404
$GC,745,-0.78,-146.6,53.1,-7.2,88,749,0.00,2.22,0.00,0.000,6,0.000,0.029,2552,2144,3404
$GC,1070,-0.78,-146.6,74.4,-6.5,118,1074,0.00,2.35,0.00,0.000,4,0.000,0.053,2552,3554,3404
$GC,1118,-0.78,-146.6,77.7,-6.6,122,1126,0.00,2.25,0.00,0.000,6,0.000,0.029,2552,2150,3404
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1319,-0.23,0.0,90.3,6.3,141,1438,0.62,0.00,113.80,0.850,6,0.112,0.000,2747,2070,2800
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1440,0.78,146.6,92.5,0.0,153,1559,0.98,2.42,111.35,0.689,4,0.081,0.044,3066,699,2202
$GC,1588,0.78,146.6,85.4,7.1,167,1592,0.00,2.33,0.00,0.000,6,0.000,0.036,3066,2068,2201
$GC,1913,0.78,146.6,61.2,7.1,197,1917,0.00,2.38,0.00,0.000,4,0.000,0.051,3066,3487,2200
$GC,2008,0.78,146.6,53.8,7.8,205,2012,0.00,2.25,0.00,0.000,6,0.000,0.034,3070,2097,2199
$GC,2338,0.78,146.6,30.9,7.0,236,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2097,2199
$GC,2529,0.78,146.6,18.2,6.4,256,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2097,2199
$GC,2604,0.78,146.6,13.7,6.2,269,2610,0.00,2.33,0.00,0.000,4,0.000,0.051,3070,3489,2199
$GC,2638,0.78,146.6,11.4,6.4,275,2644,0.00,2.28,0.00,0.000,6,0.000,0.034,3077,2073,2199
$GC,2712,0.78,149.4,6.8,5.9,288,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2072,2199
$GC,2785,0.83,190.5,3.2,4.7,301,2820,0.00,2.38,29.75,0.841,4,0.000,0.045,3077,675,2022
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,1.1,1.024195
$STATE,2842,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2861,75.85,0.734,0,0,1372,350.04
$SM_GC,1.08,0.00,0.00,75.85,0.000,0.000,0.734,3,2160,1372,-8.81,0.28,350.04
$IRIDIUM_FIX,4748.51,-12224.57,080907,121256
$TT8_MAMPS,0.026845
$HUMID,1824
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,33.0
$24V_AH,24.4,14.613
$10V_AH,10.8,5.575
$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,21.125,32.750,254.900,75.850,0.000,77.248,93.794,163.307,0.750,0.000,0.000,11.764,517.816,1491.690,362.503,640.538,418.256,33.340,711.212,0.000,649.717,0.000,7.047
$DEVICE_MAMPS,217.828,75.166,849.836,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.726,238.414,524.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15952,311
$CFSIZE,260165632,255565824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,094023,4805.941,-12221.648,11,2.5,31,18.3