version: 66.02
glider: 128
mission: 2
dive: 77
start: 9 8 107 9 46 7
data:
$ID,128
$MISSION,2
$DIVE,77
$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,-60699.934
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,094023,4805.941,-12221.648,11,2.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.5
$GPS2,094507,4805.916,-12221.635,12,1.4,28,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.117
$KALMAN_X,6563.5,-4.6,2.6,-3767.0,26.0
$KALMAN_Y,2074.0,8.2,34.1,-6839.5,101.1
$MHEAD_RNG_PITCHd_Wd,295.3,4843,-13.2,-6.000
$D_GRID,109
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-71.57,0.000,2,0.000,0.000,3,2160,3193
$GC,95,-0.78,-146.6,3.5,-3.6,13,119,10.62,2.42,-4.18,0.000,4,0.221,0.065,2550,3561,3402
$GC,170,-0.78,-146.6,14.5,-9.0,26,176,0.00,2.33,0.00,0.000,6,0.000,0.031,2550,2140,3403
$GC,244,-0.78,-146.6,19.9,-7.0,39,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2140,3404
$GC,313,-0.78,-146.6,24.7,-6.8,46,317,0.00,2.40,0.00,0.000,4,0.000,0.054,2550,3554,3404
$GC,340,-0.78,-146.6,26.7,-7.3,48,344,0.00,2.28,0.00,0.000,6,0.000,0.030,2550,2140,3404
$GC,537,-0.78,-146.6,40.4,-7.1,66,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2139,3404
$GC,728,-0.78,-146.6,54.0,-7.1,84,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2139,3404
$GC,1046,-0.78,-146.6,75.8,-6.8,114,1050,0.00,2.38,0.00,0.000,4,0.000,0.054,2550,3557,3404
$GC,1073,-0.78,-146.6,77.5,-6.5,116,1077,0.00,2.25,0.00,0.000,6,0.000,0.029,2550,2137,3404
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1273,-0.23,0.0,90.6,6.5,134,1392,0.62,0.00,114.57,0.892,6,0.113,0.000,2744,2070,2800
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1394,0.78,146.6,93.1,0.0,146,1513,1.00,2.45,111.47,0.686,4,0.081,0.045,3070,689,2202
$GC,1531,0.78,146.6,87.2,6.8,159,1535,0.00,2.38,0.00,0.000,6,0.000,0.037,3070,2078,2201
$GC,1857,0.78,146.6,63.4,7.2,189,1861,0.00,2.38,0.00,0.000,4,0.000,0.051,3070,3492,2200
$GC,1963,0.78,146.6,54.7,8.2,198,1967,0.00,2.28,0.00,0.000,6,0.000,0.034,3074,2091,2200
$GC,2293,0.78,146.6,32.5,6.5,229,2297,0.00,2.35,0.00,0.000,4,0.000,0.051,3074,3493,2199
$GC,2332,0.78,146.6,29.6,7.4,232,2336,0.00,2.30,0.00,0.000,6,0.000,0.034,3080,2072,2199
$GC,2531,0.78,146.6,16.6,6.4,254,2537,0.00,2.38,0.00,0.000,4,0.000,0.052,3079,3490,2199
$GC,2683,0.78,146.6,6.9,6.8,281,2690,0.00,2.28,0.00,0.000,6,0.000,0.035,3082,2073,2199
$GC,2758,0.86,212.2,3.7,3.9,294,2803,0.00,0.00,43.20,0.844,2,0.000,0.000,3082,2073,1963
$STATE,2804,end climb,SURFACE_DEPTH_REACHED
$STATE,2804,begin surface coast
$FINISH,0.5,1.024371
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2881,67.10,0.713,0,0,1373,350.04
$SM_GC,1.30,0.00,0.00,67.10,0.000,0.000,0.713,5,2165,1373,-8.80,0.45,350.04
$IRIDIUM_FIX,4748.51,-12220.12,080907,121229
$TT8_MAMPS,0.026845
$HUMID,1842
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,55.5
$24V_AH,24.4,14.697
$10V_AH,10.8,5.616
$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,21.125,33.025,269.250,67.100,0.000,40.547,52.340,103.919,0.250,0.000,0.000,29.894,518.983,1443.205,361.311,659.026,275.505,33.363,716.362,0.000,656.122,0.000,2.529
$DEVICE_MAMPS,220.896,93.574,892.021,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.372,243.742,528.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16004,313
$CFSIZE,260165632,255537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,103603,4806.154,-12221.883,12,1.5,13,18.3