version: 66.02
glider: 128
mission: 2
dive: 110
start: 9 9 107 16 47 21
data:
$ID,128
$MISSION,2
$DIVE,110
$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,-61371.953
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,52
$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
$GPS1,164209,4806.865,-12222.665,8,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.7
$GPS2,164620,4806.854,-12222.683,10,1.8,15,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.117
$KALMAN_X,9109.3,142.7,42.8,-7793.4,76.5
$KALMAN_Y,2713.6,-66.0,-77.7,-5556.7,26.7
$MHEAD_RNG_PITCHd_Wd,295.5,2675,-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,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-82.30,0.000,2,0.000,0.000,13,2186,3355
$GC,107,-0.78,-146.6,3.1,-2.8,15,126,10.80,2.38,-0.88,0.000,4,0.229,0.060,2550,3595,3398
$GC,176,-0.78,-146.6,14.4,-10.2,27,183,0.00,2.30,0.00,0.000,6,0.000,0.029,2550,2188,3400
$GC,251,-0.78,-146.6,20.3,-7.7,40,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2186,3400
$GC,442,-0.78,-146.6,34.0,-7.4,58,446,0.00,2.38,0.00,0.000,4,0.000,0.051,2544,3605,3400
$GC,479,-0.78,-146.6,37.1,-8.0,61,487,0.00,2.25,0.00,0.000,6,0.000,0.028,2545,2209,3401
$GC,677,-0.78,-146.6,51.0,-6.9,80,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2209,3400
$GC,996,-0.78,-146.6,73.2,-6.9,110,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2209,3400
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1253,-0.23,0.0,90.4,6.6,134,1372,0.65,0.00,112.57,0.800,6,0.116,0.000,2746,2148,2800
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1374,0.78,146.6,92.7,0.0,146,1496,1.02,2.42,112.20,0.728,4,0.082,0.042,3082,757,2201
$GC,1524,0.78,146.6,84.9,7.4,160,1530,0.00,2.35,0.00,0.000,6,0.000,0.035,3082,2126,2201
$GC,1849,0.78,146.6,59.1,7.9,191,1853,0.00,2.40,0.00,0.000,4,0.000,0.049,3081,3558,2200
$GC,1876,0.78,146.6,56.8,8.6,193,1880,0.00,2.28,0.00,0.000,6,0.000,0.031,3091,2160,2199
$GC,2201,0.78,146.6,31.8,7.0,223,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2160,2199
$GC,2392,0.78,146.6,19.0,6.5,242,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2160,2198
$GC,2466,0.78,146.6,14.6,6.0,255,2472,0.00,2.33,0.00,0.000,4,0.000,0.050,3092,3558,2199
$GC,2489,0.78,146.6,12.9,6.5,259,2496,0.00,2.28,0.00,0.000,6,0.000,0.032,3098,2140,2199
$GC,2563,0.78,146.6,7.7,7.1,272,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2140,2199
$GC,2636,0.78,146.6,3.0,6.2,285,2643,0.00,2.28,0.00,0.000,4,0.000,0.045,3098,734,2199
$GC,2649,0.79,154.4,2.4,5.8,287,2661,0.00,2.30,6.00,0.719,6,0.000,0.035,3098,2163,2170
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,0.5,1.002009
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2722,86.82,0.739,0,0,1373,350.04
$SM_GC,1.13,0.00,0.00,86.82,0.000,0.000,0.739,7,2213,1373,-8.79,0.08,350.04
$IRIDIUM_FIX,4751.72,-12228.02,090907,191904
$TT8_MAMPS,0.026845
$HUMID,1857
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,54.3
$24V_AH,24.3,17.350
$10V_AH,10.8,6.964
$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,21.250,28.000,230.775,86.825,0.000,41.176,37.852,96.783,0.250,0.000,0.000,16.685,492.752,1369.009,375.313,591.932,257.686,33.334,700.410,0.000,602.436,0.000,3.334
$DEVICE_MAMPS,229.333,139.594,799.981,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.422,229.454,501.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15927,297
$CFSIZE,260165632,254611456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,173516,4807.119,-12222.968,11,2.3,31,18.3