version: 66.02
glider: 128
mission: 2
dive: 134
start: 9 10 107 14 47 53
data:
$ID,128
$MISSION,2
$DIVE,134
$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,-61918.535
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,144153,4806.396,-12222.197,7,2.9,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.9
$GPS2,144653,4806.375,-12222.186,14,2.9,33,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.119
$KALMAN_X,10714.2,94.3,-23.6,-8670.6,126.9
$KALMAN_Y,3679.4,-98.8,49.2,-7503.3,-38.0
$MHEAD_RNG_PITCHd_Wd,296.1,3754,-13.2,-6.000
$D_GRID,108
$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,-81.97,0.000,2,0.000,0.000,12,2213,3346
$GC,107,-0.78,-146.6,3.1,-2.9,15,126,10.55,2.38,-1.05,0.000,4,0.220,0.061,2552,3623,3399
$GC,137,-0.78,-146.6,11.3,-19.4,20,144,0.00,2.30,0.00,0.000,6,0.000,0.029,2552,2200,3400
$GC,211,-0.78,-146.6,17.5,-7.7,33,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2200,3401
$GC,287,-0.78,-146.6,23.2,-7.5,43,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2200,3401
$GC,479,-0.78,-146.6,37.0,-7.4,61,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2200,3400
$GC,670,-0.78,-146.6,50.4,-6.8,79,674,0.00,2.38,0.00,0.000,4,0.000,0.051,2552,3617,3401
$GC,697,-0.78,-146.6,52.5,-7.4,81,704,0.00,2.25,0.00,0.000,6,0.000,0.029,2552,2199,3401
$GC,1022,-0.78,-146.6,74.0,-6.6,112,1026,0.00,2.35,0.00,0.000,4,0.000,0.051,2552,3612,3401
$GC,1054,-0.78,-146.6,76.3,-6.7,114,1061,0.00,2.22,0.00,0.000,6,0.000,0.028,2551,2213,3401
$STATE,1271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1276,-0.23,0.0,90.6,6.5,135,1394,0.62,0.00,112.55,0.774,6,0.113,0.000,2746,2143,2799
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1397,0.78,146.6,92.9,0.0,147,1515,0.98,2.40,111.55,0.703,4,0.081,0.043,3068,762,2202
$GC,1526,0.78,146.6,87.3,6.3,159,1533,0.00,2.35,0.00,0.000,6,0.000,0.035,3068,2146,2202
$GC,1853,0.78,146.6,63.7,7.2,190,1857,0.00,2.38,0.00,0.000,4,0.000,0.050,3068,3565,2200
$GC,1884,0.78,146.6,61.0,8.4,192,1892,0.00,2.30,0.00,0.000,6,0.000,0.031,3071,2165,2199
$GC,2211,0.78,146.6,37.9,7.1,223,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2164,2199
$GC,2401,0.78,146.6,24.8,6.8,241,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2164,2199
$GC,2599,0.78,146.6,11.3,6.5,270,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2164,2198
$GC,2672,0.78,146.6,6.8,6.0,283,2678,0.00,2.30,0.00,0.000,4,0.000,0.044,3072,741,2199
$GC,2729,0.82,182.5,4.0,4.8,293,2764,0.00,2.30,26.80,0.854,6,0.000,0.035,3072,2155,2055
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,0.4,1.021891
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2861,72.90,0.680,0,0,1372,350.04
$SM_GC,1.09,0.00,0.00,72.90,0.000,0.000,0.680,3,2209,1372,-8.81,0.00,350.04
$IRIDIUM_FIX,4748.51,-12226.29,100907,171755
$TT8_MAMPS,0.026845
$HUMID,1856
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.7,53.4
$24V_AH,24.4,19.235
$10V_AH,10.8,7.915
$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,20.925,28.025,250.900,72.900,0.000,39.169,43.967,118.611,0.250,0.000,0.000,36.115,512.155,1438.600,371.070,644.682,292.072,33.339,714.029,0.000,634.661,0.000,2.524
$DEVICE_MAMPS,220.129,93.574,854.438,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.362,243.855,528.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,313
$CFSIZE,260165632,253984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,153753,4806.597,-12222.357,11,4.5,31,18.3