version: 66.02
glider: 128
mission: 2
dive: 316
start: 9 18 107 17 39 28
data:
$ID,128
$MISSION,2
$DIVE,316
$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,-66739.578
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,173407,4806.641,-12222.667,25,1.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.3
$GPS2,173827,4806.650,-12222.673,10,1.5,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.131,0.087
$KALMAN_X,23667.7,-104.8,-206.8,-21843.0,165.3
$KALMAN_Y,13557.9,-137.7,154.4,-16938.4,174.3
$MHEAD_RNG_PITCHd_Wd,285.2,2991,-10.6,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,93,0.00,0.00,-65.60,0.000,2,0.000,0.000,16,2239,3202
$GC,96,-0.77,-146.6,3.1,-2.9,12,116,10.23,2.38,-4.12,0.000,4,0.207,0.056,2564,839,3401
$GC,414,-0.77,-146.6,30.6,-7.6,55,418,0.00,2.33,0.00,0.000,6,0.000,0.040,2565,2255,3404
$GC,611,-0.77,-146.6,43.6,-6.8,73,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2255,3404
$GC,803,-0.77,-146.6,55.8,-6.1,91,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2255,3404
$GC,1122,-0.77,-146.6,76.7,-6.5,121,1126,0.00,2.33,0.00,0.000,4,0.000,0.055,2561,3656,3404
$GC,1165,-0.77,-146.6,79.7,-6.4,124,1172,0.00,2.28,0.00,0.000,6,0.000,0.029,2561,2242,3404
$STATE,1414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1414,begin apogee
$GC,1420,-0.28,0.0,95.3,6.2,148,1537,0.50,0.00,111.30,0.760,6,0.109,0.000,2722,2144,2799
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1541,0.77,146.6,98.0,0.0,160,1659,1.02,0.00,110.70,0.703,6,0.081,0.000,3058,2143,2201
$GC,1977,0.77,146.6,70.3,7.1,202,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2144,2199
$GC,2296,0.77,146.6,48.7,6.9,232,2300,0.00,2.38,0.00,0.000,4,0.000,0.051,3058,3563,2199
$GC,2334,0.77,146.6,45.8,7.8,235,2340,0.00,2.28,0.00,0.000,6,0.000,0.035,3067,2164,2198
$GC,2531,0.77,146.6,32.4,6.6,254,2535,0.00,2.33,0.00,0.000,4,0.000,0.048,3072,732,2198
$GC,2554,0.77,146.6,30.8,6.9,256,2559,0.00,2.30,0.00,0.000,6,0.000,0.039,3071,2154,2198
$GC,2755,0.77,146.6,17.0,6.8,278,2761,0.00,2.33,0.00,0.000,4,0.000,0.054,3071,3555,2198
$GC,2786,0.77,146.6,14.9,6.9,283,2792,0.00,2.28,0.00,0.000,6,0.000,0.035,3079,2150,2198
$GC,2861,0.77,146.6,9.7,6.5,296,2867,0.00,2.30,0.00,0.000,4,0.000,0.048,3083,741,2198
$GC,2885,0.77,146.6,8.1,6.5,300,2891,0.00,2.30,0.00,0.000,6,0.000,0.039,3083,2156,2198
$GC,2960,0.77,146.6,3.7,5.7,313,2966,0.00,2.33,0.00,0.000,4,0.000,0.054,3083,3556,2198
$GC,3001,0.81,179.2,2.2,4.0,320,3009,0.00,2.28,3.08,0.436,2,0.000,0.035,3085,2143,2185
$STATE,3010,end climb,SURFACE_DEPTH_REACHED
$STATE,3010,begin surface coast
$FINISH,1.1,1.024229
$STATE,3071,end surface coast,CONTROL_FINISHED_OK
$STATE,3071,begin surface
$SM_CCo,3090,64.43,0.700,0,0,1576,300.00
$SM_GC,1.29,0.00,0.00,64.43,0.000,0.000,0.700,4,2264,1576,-8.80,0.40,300.00
$IRIDIUM_FIX,4748.51,-12219.12,180907,202001
$TT8_MAMPS,0.026845
$HUMID,1866
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,42.9
$24V_AH,24.5,32.752
$10V_AH,10.7,16.268
$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,20.475,32.700,225.075,64.425,0.000,40.406,37.675,93.345,0.500,0.000,0.000,12.085,557.070,1577.247,341.739,665.232,296.832,33.330,683.388,0.000,679.906,0.000,2.513
$DEVICE_MAMPS,207.090,62.127,760.097,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.656,260.560,560.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16015,332
$CFSIZE,260165632,248852480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,183307,4806.896,-12223.038,10,1.3,27,18.3