version: 66.02
glider: 128
mission: 2
dive: 301
start: 9 18 107 2 42 29
data:
$ID,128
$MISSION,2
$DIVE,301
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-66440.602
$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,18
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,36
$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,150
$AH0_10V,80
$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
$GPS1,023626,4807.801,-12223.756,6,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.4
$GPS2,024129,4807.790,-12223.738,11,3.9,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.094
$KALMAN_X,21451.0,34.1,-66.7,-21223.1,81.0
$KALMAN_Y,12646.9,224.4,228.5,-14352.0,33.9
$MHEAD_RNG_PITCHd_Wd,293.0,506,-13.2,-5.026
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.87,-107.7,0.0,0.0,0,92,0.00,0.00,-65.35,0.000,2,0.000,0.000,7,2263,3201
$GC,95,-0.91,-146.6,3.4,-3.2,12,115,10.20,2.42,-3.95,0.000,4,0.212,0.056,2522,843,3400
$GC,417,-0.91,-146.6,35.1,-8.1,52,424,0.00,2.33,0.00,0.000,6,0.000,0.039,2515,2245,3403
$GC,615,-0.91,-146.6,50.3,-7.5,71,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2245,3403
$GC,933,-0.91,-146.6,74.4,-7.7,101,937,0.00,2.33,0.00,0.000,4,0.000,0.052,2505,3657,3404
$GC,962,-0.91,-146.6,76.8,-8.6,103,966,0.00,2.25,0.00,0.000,6,0.000,0.029,2505,2233,3403
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1206,-0.28,0.0,95.0,7.5,125,1323,0.70,0.00,111.32,0.757,6,0.118,0.000,2724,2143,2800
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,0.91,146.6,97.9,0.0,137,1447,1.17,2.42,110.60,0.700,4,0.079,0.045,3119,765,2201
$GC,1461,0.91,146.6,90.6,8.4,150,1465,0.00,2.38,0.00,0.000,6,0.000,0.038,3119,2156,2201
$GC,1787,0.91,146.6,60.6,8.8,180,1791,0.00,2.35,0.00,0.000,4,0.000,0.052,3119,3558,2199
$GC,1827,0.91,146.6,56.7,10.0,183,1831,0.00,2.28,0.00,0.000,6,0.000,0.034,3129,2166,2199
$GC,2153,0.91,146.6,27.0,9.0,213,2157,0.00,2.33,0.00,0.000,4,0.000,0.047,3139,746,2198
$GC,2181,0.91,146.6,24.6,8.3,215,2185,0.00,2.30,0.00,0.000,6,0.000,0.038,3139,2158,2198
$GC,2388,0.91,146.6,7.1,8.3,246,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2158,2198
$GC,2462,0.91,146.6,2.1,6.2,259,2468,0.00,2.30,0.00,0.000,4,0.000,0.051,3139,3555,2198
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,1.3,1.024315
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2499,79.72,0.693,0,0,1576,300.00
$SM_GC,1.53,0.00,0.00,79.72,0.000,0.000,0.693,10,2240,1576,-8.78,-0.25,300.00
$IRIDIUM_FIX,4748.51,-12221.84,180907,050545
$TT8_MAMPS,0.026078
$HUMID,1847
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.3,43.3
$24V_AH,24.5,31.672
$10V_AH,10.7,15.622
$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,21.075,27.925,221.925,79.725,0.000,40.296,58.188,97.009,1.000,0.000,0.000,32.569,448.271,1233.544,336.829,579.669,306.938,33.316,637.855,0.000,569.298,0.000,2.512
$DEVICE_MAMPS,211.692,66.729,757.029,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.480,202.667,442.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12844,262
$CFSIZE,260165632,249270272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,032635,4808.011,-12224.026,10,2.7,29,18.3