version: 66.02
glider: 128
mission: 2
dive: 83
start: 9 8 107 15 34 34
data:
$ID,128
$MISSION,2
$DIVE,83
$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,-60811.203
$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,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
$GPS1,152107,4807.192,-12223.004,11,1.5,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.7
$GPS2,153333,4807.168,-12223.032,13,1.2,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.124
$KALMAN_X,6982.8,20.8,1.5,-5936.2,58.2
$KALMAN_Y,2317.7,-12.6,-16.2,-4693.3,0.8
$MHEAD_RNG_PITCHd_Wd,298.6,1950,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-77.25,0.000,2,0.000,0.000,2,2153,3325
$GC,101,-0.78,-146.6,3.7,-3.7,14,120,10.57,2.38,-1.38,0.000,4,0.218,0.064,2556,3549,3399
$GC,199,-0.78,-146.6,17.5,-7.8,31,205,0.00,2.30,0.00,0.000,6,0.000,0.031,2556,2141,3400
$GC,271,-0.78,-146.6,22.5,-6.8,41,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2140,3401
$GC,462,-0.78,-146.6,35.4,-6.5,59,466,0.00,2.40,0.00,0.000,4,0.000,0.053,2556,3558,3401
$GC,501,-0.78,-146.6,38.1,-6.5,62,505,0.00,2.28,0.00,0.000,6,0.000,0.031,2556,2145,3401
$GC,697,-0.78,-146.6,51.2,-6.6,80,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2145,3401
$GC,1016,-0.78,-146.6,72.0,-6.6,110,1020,0.00,2.35,0.00,0.000,4,0.000,0.054,2556,3547,3401
$GC,1088,-0.78,-146.6,76.7,-6.3,116,1092,0.00,2.22,0.00,0.000,6,0.000,0.031,2556,2140,3401
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1303,-0.23,0.0,90.5,6.3,136,1422,0.60,0.00,112.55,0.800,6,0.111,0.000,2743,2075,2799
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1425,0.78,146.6,93.0,0.0,148,1544,1.00,2.45,111.75,0.705,4,0.081,0.048,3068,680,2201
$GC,1577,0.78,146.6,85.8,7.2,162,1584,0.00,2.40,0.00,0.000,6,0.000,0.037,3069,2072,2201
$GC,1903,0.78,146.6,62.3,7.5,193,1907,0.00,2.38,0.00,0.000,4,0.000,0.053,3069,3484,2200
$GC,1987,0.78,146.6,55.3,8.4,200,1991,0.00,2.28,0.00,0.000,6,0.000,0.035,3077,2092,2199
$GC,2313,0.78,146.6,31.7,7.1,230,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2091,2199
$GC,2503,0.78,146.6,17.8,7.3,250,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2091,2199
$GC,2576,0.78,146.6,12.6,7.1,263,2582,0.00,2.35,0.00,0.000,4,0.000,0.053,3076,3492,2199
$GC,2633,0.78,146.6,8.3,7.5,273,2639,0.00,2.33,0.00,0.000,6,0.000,0.035,3083,2072,2199
$GC,2707,0.78,146.6,3.9,6.1,286,2713,0.00,2.30,0.00,0.000,4,0.000,0.050,3083,666,2198
$GC,2747,0.87,222.6,2.7,3.5,293,2777,0.00,2.30,24.83,0.866,2,0.000,0.038,3083,2091,2038
$STATE,2777,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,0.5,1.015931
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2866,73.12,0.699,0,0,1373,350.04
$SM_GC,1.17,0.00,0.00,73.12,0.000,0.000,0.699,8,2163,1373,-8.79,0.37,350.04
$IRIDIUM_FIX,4748.51,-12221.84,080907,191917
$TT8_MAMPS,0.026845
$HUMID,1837
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,26.4
$24V_AH,24.4,15.215
$10V_AH,10.8,5.868
$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,20.975,32.850,249.125,73.125,0.000,113.226,182.579,238.754,0.750,0.000,0.000,14.689,521.676,1552.137,360.414,644.721,632.396,33.336,709.094,0.000,651.183,0.000,7.785
$DEVICE_MAMPS,217.828,95.108,865.943,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.155,240.817,524.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15913,311
$CFSIZE,260165632,255356928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,162415,4807.445,-12223.248,7,1.9,8,18.3