version: 66.02
glider: 128
mission: 2
dive: 109
start: 9 9 107 15 53 10
data:
$ID,128
$MISSION,2
$DIVE,109
$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,-61354.641
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,154737,4806.646,-12222.415,23,2.0,24,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.8
$GPS2,155209,4806.630,-12222.432,13,1.9,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.118
$KALMAN_X,9113.5,124.4,-3.3,-7424.0,126.4
$KALMAN_Y,2606.6,-67.3,-24.0,-5916.3,-40.9
$MHEAD_RNG_PITCHd_Wd,295.8,3192,-13.2,-6.000
$D_GRID,107
$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,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-82.25,0.000,3,0.000,0.000,5,2161,3398
$GC,107,-0.78,-146.6,3.6,-3.8,15,119,10.65,0.00,0.00,0.000,6,0.222,0.000,2561,2161,3401
$GC,187,-0.78,-146.6,16.3,-8.4,29,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2161,3403
$GC,264,-0.78,-146.6,21.8,-7.1,41,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2161,3403
$GC,455,-0.78,-146.6,34.2,-6.2,59,459,0.00,2.33,0.00,0.000,4,0.000,0.050,2552,3558,3404
$GC,539,-0.78,-146.6,39.9,-7.0,66,543,0.00,2.28,0.00,0.000,6,0.000,0.029,2553,2130,3403
$GC,736,-0.78,-146.6,52.3,-6.0,84,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2130,3404
$GC,1054,-0.78,-146.6,72.5,-6.1,114,1058,0.00,2.35,0.00,0.000,4,0.000,0.049,2552,3547,3404
$GC,1133,-0.78,-146.6,77.6,-6.8,120,1139,0.00,2.20,0.00,0.000,6,0.000,0.029,2553,2148,3404
$STATE,1338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1343,-0.23,0.0,90.6,6.4,140,1462,0.62,0.00,113.12,0.805,6,0.110,0.000,2748,2077,2799
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1464,0.78,146.6,92.5,0.0,152,1584,0.98,2.42,112.18,0.730,4,0.079,0.044,3074,682,2201
$GC,1610,0.78,146.6,85.2,7.0,165,1618,0.00,2.38,0.00,0.000,6,0.000,0.034,3073,2067,2201
$GC,1936,0.78,146.6,59.4,8.0,196,1940,0.00,2.38,0.00,0.000,4,0.000,0.048,3074,3489,2200
$GC,1975,0.78,146.6,56.1,8.7,199,1979,0.00,2.28,0.00,0.000,6,0.000,0.031,3082,2092,2199
$GC,2302,0.78,146.6,31.3,7.0,229,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2092,2199
$GC,2492,0.78,146.6,18.1,6.8,249,2498,0.00,2.33,0.00,0.000,4,0.000,0.048,3082,3491,2199
$GC,2538,0.78,146.6,14.8,7.2,257,2544,0.00,2.28,0.00,0.000,6,0.000,0.032,3090,2077,2199
$GC,2612,0.78,146.6,10.2,6.2,270,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2077,2199
$GC,2685,0.78,146.6,5.3,6.3,283,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2077,2199
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,0.4,1.011946
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2802,93.93,0.750,0,0,1372,350.04
$SM_GC,1.29,0.00,0.00,93.93,0.000,0.000,0.750,13,2185,1372,-8.77,0.99,350.04
$IRIDIUM_FIX,4748.51,-12224.57,090907,181834
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,51.6
$24V_AH,24.3,17.273
$10V_AH,10.8,6.926
$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,20.975,23.400,225.300,93.925,0.000,40.371,37.105,119.692,0.250,0.000,0.000,14.698,506.862,1418.069,365.873,623.910,278.802,33.344,700.039,0.000,633.659,0.000,2.522
$DEVICE_MAMPS,221.663,95.875,804.583,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.637,233.503,507.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16008,301
$CFSIZE,260165632,254636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,164209,4806.865,-12222.665,8,1.8,9,18.3