version: 66.02
glider: 128
mission: 2
dive: 113
start: 9 9 107 19 33 9
data:
$ID,128
$MISSION,2
$DIVE,113
$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,-61437.242
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,192732,4807.725,-12223.543,10,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.4
$GPS2,193208,4807.703,-12223.544,12,2.0,12,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.150,0.079
$KALMAN_X,9228.3,100.8,60.5,-8954.2,-0.4
$KALMAN_Y,3170.6,28.6,-53.7,-4559.9,206.5
$MHEAD_RNG_PITCHd_Wd,279.3,788,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-81.43,0.000,6,0.000,0.000,16,2220,3398
$GC,106,-0.78,-146.6,3.9,-4.3,15,125,10.50,2.38,0.00,0.000,4,0.219,0.049,2552,3610,3403
$GC,310,-0.78,-146.6,25.2,-7.6,45,314,0.00,2.30,0.00,0.000,6,0.000,0.031,2552,2188,3404
$GC,506,-0.78,-146.6,39.0,-7.1,63,510,0.00,2.40,0.00,0.000,4,0.000,0.054,2552,3616,3404
$GC,533,-0.78,-146.6,41.0,-7.5,65,540,0.00,2.28,0.00,0.000,6,0.000,0.030,2552,2212,3404
$GC,731,-0.78,-146.6,54.0,-6.7,84,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2212,3404
$GC,1049,-0.78,-146.6,74.9,-6.9,114,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2211,3404
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1281,begin apogee
$GC,1286,-0.23,0.0,90.4,6.6,136,1404,0.62,0.00,112.90,0.800,6,0.113,0.000,2746,2146,2800
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1407,0.78,146.6,92.7,0.0,148,1525,0.98,0.00,112.55,0.723,6,0.081,0.000,3062,2146,2202
$GC,1842,0.78,146.6,65.8,7.1,190,1846,0.00,2.38,0.00,0.000,4,0.000,0.050,3063,3555,2199
$GC,1875,0.78,146.6,63.4,7.9,193,1879,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,2160,2199
$GC,2200,0.78,146.6,41.4,6.8,223,2204,0.00,2.33,0.00,0.000,4,0.000,0.046,3074,738,2198
$GC,2231,0.78,146.6,39.1,6.5,225,2239,0.00,2.33,0.00,0.000,6,0.000,0.036,3074,2149,2198
$GC,2429,0.78,146.6,26.5,6.5,244,2433,0.00,2.33,0.00,0.000,4,0.000,0.051,3074,3557,2198
$GC,2479,0.78,146.6,23.1,7.0,248,2483,0.00,2.28,0.00,0.000,6,0.000,0.033,3082,2144,2199
$GC,2684,0.78,146.6,9.1,7.0,280,2691,0.00,2.30,0.00,0.000,4,0.000,0.048,3086,733,2198
$GC,2707,0.78,146.6,7.7,6.6,284,2714,0.00,2.33,0.00,0.000,6,0.000,0.037,3086,2153,2198
$GC,2781,0.78,146.6,3.0,6.1,297,2788,0.00,2.33,0.00,0.000,4,0.000,0.046,3093,735,2199
$STATE,2809,end climb,SURFACE_DEPTH_REACHED
$STATE,2809,begin surface coast
$FINISH,1.6,1.024663
$STATE,2817,end surface coast,CONTROL_FINISHED_OK
$STATE,2817,begin surface
$SM_CCo,2836,99.15,0.742,0,0,1372,350.04
$SM_GC,1.14,0.00,0.00,99.15,0.000,0.000,0.742,6,2229,1372,-8.80,0.54,350.04
$IRIDIUM_FIX,4751.72,-12220.85,090907,222210
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,44.8
$24V_AH,24.3,17.590
$10V_AH,10.8,7.084
$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,20.975,32.700,225.450,99.150,0.000,39.269,46.763,115.189,0.250,0.000,0.000,14.224,507.479,1454.414,389.554,601.968,284.626,33.334,705.159,0.000,616.018,0.000,3.317
$DEVICE_MAMPS,218.595,94.341,799.981,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.997,238.268,511.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15903,303
$CFSIZE,260165632,254533632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,202305,4807.986,-12223.917,5,2.3,25,18.3