version: 66.02
glider: 128
mission: 2
dive: 129
start: 9 10 107 10 7 2
data:
$ID,128
$MISSION,2
$DIVE,129
$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,-61784.32
$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,41
$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
$GPS1,100057,4805.344,-12221.183,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.5
$GPS2,100602,4805.338,-12221.183,11,2.0,28,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.112
$KALMAN_X,10195.0,24.6,-9.4,-6855.7,42.5
$KALMAN_Y,3567.3,-178.6,83.8,-9267.0,141.9
$MHEAD_RNG_PITCHd_Wd,293.2,6036,-13.2,-6.000
$D_GRID,110
$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,-82.00,0.000,2,0.000,0.000,10,2226,3393
$GC,107,-0.78,-146.6,3.6,-3.9,15,125,10.52,2.35,0.00,0.000,4,0.219,0.047,2556,3609,3397
$GC,148,-0.78,-146.6,13.0,-21.2,22,154,0.00,2.28,0.00,0.000,6,0.000,0.029,2556,2200,3397
$GC,222,-0.78,-146.6,19.1,-8.0,35,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2200,3397
$GC,298,-0.78,-146.6,24.7,-7.1,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2200,3397
$GC,488,-0.78,-146.6,38.8,-7.2,61,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2200,3398
$GC,679,-0.78,-146.6,52.0,-7.0,79,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2200,3398
$GC,998,-0.78,-146.6,73.0,-6.7,109,1002,0.00,2.35,0.00,0.000,4,0.000,0.051,2553,3614,3397
$GC,1052,-0.78,-146.6,76.6,-6.5,113,1059,0.00,2.25,0.00,0.000,6,0.000,0.028,2553,2204,3398
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1263,-0.23,0.0,90.0,6.5,133,1382,0.62,0.00,111.78,0.772,6,0.112,0.000,2748,2201,2799
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1384,0.78,146.6,92.3,0.0,145,1504,1.00,2.55,112.03,0.693,4,0.079,0.043,3079,761,2202
$GC,1519,0.78,146.6,85.8,6.9,158,1527,0.00,2.35,0.00,0.000,6,0.000,0.034,3078,2138,2201
$GC,1847,0.78,146.6,60.7,7.2,189,1851,0.00,2.38,0.00,0.000,4,0.000,0.048,3079,3559,2200
$GC,1863,0.78,146.6,59.1,7.7,190,1867,0.00,2.28,0.00,0.000,6,0.000,0.031,3082,2156,2200
$GC,2190,0.78,146.6,35.2,6.9,220,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2156,2200
$GC,2378,0.78,146.6,22.4,6.7,238,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2156,2200
$GC,2578,0.78,146.6,8.9,6.5,270,2584,0.00,2.35,0.00,0.000,4,0.000,0.049,3082,3554,2199
$GC,2624,0.78,146.6,5.9,6.7,278,2630,0.00,2.25,0.00,0.000,6,0.000,0.031,3088,2137,2199
$STATE,2690,end climb,SURFACE_DEPTH_REACHED
$STATE,2690,begin surface coast
$FINISH,0.4,1.009275
$STATE,2726,end surface coast,CONTROL_FINISHED_OK
$STATE,2726,begin surface
$SM_CCo,2742,94.43,0.702,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,94.43,0.000,0.000,0.702,19,2237,1372,-8.76,0.76,350.04
$IRIDIUM_FIX,4745.30,-12220.12,100907,131317
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,32.6
$24V_AH,24.4,18.841
$10V_AH,10.8,7.712
$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,20.825,23.525,223.800,94.425,0.000,41.337,49.160,116.693,0.750,0.000,0.000,30.402,490.083,1401.322,384.050,592.133,299.800,33.343,683.329,0.000,588.323,0.000,7.955
$DEVICE_MAMPS,218.595,59.826,772.369,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.234,227.149,499.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15982,296
$CFSIZE,260165632,254119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,105523,4805.622,-12221.479,9,3.6,29,18.3