version: 66.02
glider: 128
mission: 2
dive: 315
start: 9 18 107 16 40 12
data:
$ID,128
$MISSION,2
$DIVE,315
$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,-66726.859
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,163409,4806.328,-12222.333,7,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.5
$GPS2,163909,4806.338,-12222.328,14,1.3,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.098
$KALMAN_X,23605.6,-83.0,-203.9,-21381.5,114.9
$KALMAN_Y,13358.6,-210.6,219.8,-17309.2,146.9
$MHEAD_RNG_PITCHd_Wd,290.5,3707,-10.6,-5.026
$D_GRID,107
$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,-65.62,0.000,2,0.000,0.000,7,2268,3195
$GC,94,-0.77,-146.6,3.1,-2.8,12,114,10.27,2.45,-4.10,0.000,4,0.207,0.056,2568,834,3400
$GC,367,-0.77,-146.6,27.4,-6.4,50,371,0.00,2.33,0.00,0.000,6,0.000,0.039,2568,2250,3403
$GC,564,-0.77,-146.6,39.6,-6.3,68,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2250,3403
$GC,756,-0.77,-146.6,51.5,-6.1,86,760,0.00,2.33,0.00,0.000,4,0.000,0.054,2564,3654,3403
$GC,801,-0.77,-146.6,54.2,-5.8,90,805,0.00,2.25,0.00,0.000,6,0.000,0.029,2564,2238,3404
$GC,1127,-0.77,-146.6,74.7,-6.0,120,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2237,3403
$GC,1445,-0.77,-146.6,94.3,-6.1,150,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2237,3404
$STATE,1463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1470,-0.28,0.0,95.6,6.0,152,1587,0.50,0.00,111.15,0.754,6,0.109,0.000,2726,2133,2800
$STATE,1587,end apogee,CONTROL_FINISHED_OK
$STATE,1587,begin climb
$GC,1590,0.77,146.6,98.2,0.0,164,1708,1.02,2.35,110.85,0.703,4,0.080,0.045,3068,761,2201
$GC,1725,0.77,146.6,91.9,6.5,177,1732,0.00,2.38,0.00,0.000,6,0.000,0.038,3068,2156,2200
$GC,2053,0.77,146.6,68.4,7.3,208,2057,0.00,2.38,0.00,0.000,4,0.000,0.054,3068,3567,2198
$GC,2074,0.77,146.6,66.6,7.0,209,2081,0.00,2.30,0.00,0.000,6,0.000,0.034,3072,2158,2198
$GC,2401,0.77,146.6,42.4,7.4,240,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2158,2198
$GC,2590,0.77,146.6,28.8,7.1,258,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2158,2198
$GC,2785,0.77,146.6,15.0,6.7,282,2792,0.00,2.33,0.00,0.000,4,0.000,0.048,3072,735,2198
$GC,2815,0.77,146.6,12.9,6.7,287,2822,0.00,2.33,0.00,0.000,6,0.000,0.039,3072,2145,2198
$GC,2890,0.77,146.6,8.1,6.5,300,2896,0.00,2.35,0.00,0.000,4,0.000,0.054,3072,3558,2198
$GC,2903,0.77,146.6,7.2,6.5,302,2909,0.00,2.28,0.00,0.000,6,0.000,0.035,3072,2150,2198
$GC,2978,0.77,151.2,3.2,4.9,315,2990,0.00,2.40,3.70,0.528,4,0.000,0.054,3072,3555,2183
$STATE,3012,end climb,SURFACE_DEPTH_REACHED
$STATE,3012,begin surface coast
$FINISH,0.6,1.024140
$STATE,3075,end surface coast,CONTROL_FINISHED_OK
$STATE,3075,begin surface
$SM_CCo,3095,77.05,0.693,0,0,1576,300.00
$SM_GC,1.50,0.00,0.00,77.05,0.000,0.000,0.693,16,2239,1576,-8.77,-0.31,300.00
$IRIDIUM_FIX,4751.72,-12221.84,180907,191946
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,44.5
$24V_AH,24.5,32.685
$10V_AH,10.7,16.225
$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,20.375,32.700,225.700,77.050,0.000,39.431,58.366,109.847,0.750,0.000,0.000,15.649,555.575,1590.656,358.876,656.563,336.442,33.331,693.064,0.000,671.301,0.000,2.516
$DEVICE_MAMPS,207.090,62.127,753.961,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.969,259.514,560.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,332
$CFSIZE,260165632,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,173407,4806.641,-12222.667,25,1.6,26,18.3