version: 66.02
glider: 128
mission: 2
dive: 313
start: 9 18 107 14 39 36
data:
$ID,128
$MISSION,2
$DIVE,313
$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,-66693.922
$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,39
$R_STBD_OVSHOOT,33
$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,100
$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
$GPS1,142547,4805.660,-12221.687,11,2.7,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,143835,4805.653,-12221.732,11,2.6,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.112
$KALMAN_X,23207.8,71.4,-28.0,-20574.5,0.6
$KALMAN_Y,13193.1,-355.8,131.0,-18177.9,224.9
$MHEAD_RNG_PITCHd_Wd,297.0,5172,-10.6,-5.026
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-146.6,0.0,0.0,0,91,0.00,0.00,-65.47,0.000,2,0.000,0.000,14,2231,3206
$GC,94,-0.77,-146.6,3.2,-2.8,12,114,10.30,2.38,-3.83,0.000,4,0.209,0.058,2563,839,3401
$GC,416,-0.77,-146.6,32.3,-6.6,54,423,0.00,2.35,0.00,0.000,6,0.000,0.040,2563,2249,3404
$GC,614,-0.77,-146.6,45.8,-6.9,73,618,0.00,2.30,0.00,0.000,4,0.000,0.041,2563,839,3404
$GC,710,-0.77,-146.6,52.4,-7.0,81,714,0.00,2.33,0.00,0.000,6,0.000,0.040,2563,2261,3405
$GC,1036,-0.77,-146.6,74.7,-6.8,111,1040,0.00,2.33,0.00,0.000,4,0.000,0.055,2561,3660,3404
$GC,1087,-0.77,-146.6,78.3,-6.7,115,1092,0.00,2.25,0.00,0.000,6,0.000,0.029,2562,2238,3405
$STATE,1348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1348,begin apogee
$GC,1354,-0.28,0.0,95.6,6.2,139,1471,0.50,0.00,111.53,0.757,6,0.110,0.000,2722,2133,2800
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin climb
$GC,1475,0.77,146.6,98.4,0.0,151,1592,1.05,0.00,110.93,0.705,6,0.081,0.000,3064,2133,2201
$GC,1910,0.77,146.6,71.1,6.8,193,1914,0.00,2.42,0.00,0.000,4,0.000,0.051,3064,3569,2199
$GC,1948,0.77,146.6,68.2,8.0,196,1955,0.00,2.33,0.00,0.000,6,0.000,0.034,3072,2168,2199
$GC,2276,0.77,146.6,44.5,7.4,227,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2167,2199
$GC,2474,0.77,146.6,30.0,7.4,246,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2168,2198
$GC,2667,0.77,146.6,17.4,6.6,267,2674,0.00,2.33,0.00,0.000,4,0.000,0.047,3078,740,2199
$GC,2703,0.77,146.6,15.1,6.4,273,2709,0.00,2.30,0.00,0.000,6,0.000,0.039,3077,2152,2199
$GC,2777,0.77,146.6,10.6,6.1,286,2784,0.00,2.33,0.00,0.000,4,0.000,0.054,3077,3557,2199
$GC,2801,0.77,146.6,9.1,6.1,290,2808,0.00,2.28,0.00,0.000,6,0.000,0.035,3085,2144,2198
$GC,2876,0.77,146.6,5.1,5.1,303,2882,0.00,2.38,0.00,0.000,4,0.000,0.054,3085,3561,2198
$STATE,2965,end climb,SURFACE_DEPTH_REACHED
$STATE,2965,begin surface coast
$FINISH,1.7,1.024314
$STATE,2979,end surface coast,CONTROL_FINISHED_OK
$STATE,2979,begin surface
$SM_CCo,2999,81.03,0.698,0,0,1576,300.00
$SM_GC,1.49,0.00,0.00,81.03,0.000,0.000,0.698,7,2241,1576,-8.79,-0.25,300.00
$IRIDIUM_FIX,4748.51,-12217.40,180907,181820
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.2,32.7
$24V_AH,24.5,32.544
$10V_AH,10.7,16.138
$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,20.600,32.550,222.450,81.025,0.000,111.318,174.251,240.790,1.500,0.000,0.000,34.036,539.625,1628.894,364.248,676.321,663.661,33.330,695.053,0.000,669.768,0.000,7.052
$DEVICE_MAMPS,209.391,62.127,757.029,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.707,249.013,541.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15939,321
$CFSIZE,260165632,248938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,153202,4805.954,-12222.093,10,1.6,28,18.3