version: 66.02
glider: 128
mission: 2
dive: 82
start: 9 8 107 14 30 45
data:
$ID,128
$MISSION,2
$DIVE,82
$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,-60795.887
$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,37
$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
$GPS1,142505,4806.952,-12222.759,6,3.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,142945,4806.936,-12222.777,13,1.4,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.123
$KALMAN_X,6990.8,8.5,-31.9,-5583.9,86.6
$KALMAN_Y,2204.2,-0.0,29.2,-5067.4,-26.5
$MHEAD_RNG_PITCHd_Wd,298.3,2484,-13.2,-6.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,100,0.00,0.00,-77.45,0.000,2,0.000,0.000,7,2167,3324
$GC,102,-0.78,-146.6,3.8,-4.0,14,121,10.57,2.38,-1.45,0.000,4,0.220,0.064,2551,3559,3400
$GC,217,-0.78,-146.6,19.0,-8.2,34,223,0.00,2.30,0.00,0.000,6,0.000,0.031,2551,2141,3402
$GC,288,-0.78,-146.6,24.5,-7.5,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2141,3402
$GC,479,-0.78,-146.6,38.3,-6.9,60,483,0.00,2.38,0.00,0.000,4,0.000,0.054,2550,3548,3402
$GC,523,-0.78,-146.6,41.6,-7.4,64,527,0.00,2.25,0.00,0.000,6,0.000,0.031,2550,2148,3402
$GC,719,-0.78,-146.6,55.1,-7.0,82,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2147,3402
$GC,1038,-0.78,-146.6,76.6,-6.7,112,1042,0.00,2.35,0.00,0.000,4,0.000,0.054,2550,3551,3402
$GC,1075,-0.78,-146.6,79.3,-7.5,115,1082,0.00,2.25,0.00,0.000,6,0.000,0.031,2551,2154,3402
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1244,-0.23,0.0,90.4,6.6,131,1362,0.62,0.00,112.82,0.803,6,0.113,0.000,2745,2066,2800
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1365,0.78,146.6,93.1,0.0,143,1481,0.98,0.00,112.03,0.707,6,0.082,0.000,3063,2066,2202
$GC,1796,0.78,146.6,67.0,7.0,184,1800,0.00,2.40,0.00,0.000,4,0.000,0.053,3063,3479,2200
$GC,1844,0.78,146.6,63.3,7.9,188,1852,0.00,2.30,0.00,0.000,6,0.000,0.035,3070,2096,2199
$GC,2170,0.78,146.6,40.7,6.7,219,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2095,2199
$GC,2360,0.78,146.6,28.1,6.5,237,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2095,2199
$GC,2555,0.78,146.6,15.1,6.7,261,2562,0.00,2.33,0.00,0.000,4,0.000,0.053,3070,3482,2199
$GC,2584,0.78,146.6,13.0,6.8,266,2591,0.00,2.30,0.00,0.000,6,0.000,0.036,3079,2077,2199
$GC,2658,0.78,146.6,8.2,6.5,279,2664,0.00,2.35,0.00,0.000,4,0.000,0.054,3079,3478,2199
$GC,2698,0.78,146.6,5.8,6.1,286,2704,0.00,2.28,0.00,0.000,6,0.000,0.036,3083,2075,2199
$GC,2772,0.86,215.1,2.5,3.8,299,2790,0.00,0.00,16.00,0.851,2,0.000,0.000,3083,2075,2107
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2791,begin surface coast
$FINISH,0.5,1.003791
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2879,81.88,0.707,0,0,1372,350.04
$SM_GC,1.28,0.00,0.00,81.88,0.000,0.000,0.707,2,2153,1372,-8.81,0.08,350.04
$IRIDIUM_FIX,4751.72,-12226.29,080907,171732
$TT8_MAMPS,0.026845
$HUMID,1855
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,47.7
$24V_AH,24.4,15.121
$10V_AH,10.8,5.823
$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,20.950,28.075,240.850,81.875,0.000,41.174,56.660,105.975,0.250,0.000,0.000,15.243,520.810,1469.189,370.064,621.642,284.154,33.339,703.524,0.000,634.166,0.000,2.519
$DEVICE_MAMPS,220.129,66.729,850.603,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.452,245.566,531.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15952,315
$CFSIZE,260165632,255393792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,152107,4807.192,-12223.004,11,1.5,28,18.3