version: 66.02
glider: 128
mission: 2
dive: 317
start: 9 18 107 18 39 51
data:
$ID,128
$MISSION,2
$DIVE,317
$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,-66752.133
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,183307,4806.896,-12223.038,10,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.1
$GPS2,183850,4806.922,-12223.045,10,1.8,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.045,-0.022
$KALMAN_X,23622.5,-94.6,-138.7,-22334.8,143.4
$KALMAN_Y,13692.1,-13.1,72.0,-16610.6,188.1
$MHEAD_RNG_PITCHd_Wd,225.8,155,-42.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.38,-12.9,0.0,0.0,0,86,0.00,0.00,-53.78,0.000,6,0.000,0.000,4,2264,2854
$GC,89,-2.39,-25.8,2.3,-1.6,11,108,8.38,2.40,-1.50,0.000,4,0.216,0.056,2047,845,2909
$GC,410,-2.39,-25.8,23.3,-5.0,62,417,0.00,2.30,0.00,0.000,6,0.000,0.036,2039,2248,2910
$GC,608,-2.39,-25.8,33.0,-5.3,81,612,0.00,2.30,0.00,0.000,4,0.000,0.041,2039,834,2911
$GC,917,-2.40,-29.3,47.8,-4.1,108,922,0.00,2.28,-0.12,0.000,6,0.000,0.036,2030,2250,2926
$GC,1115,-2.40,-29.3,57.7,-5.3,126,1119,0.00,2.28,0.00,0.000,4,0.000,0.041,2030,830,2926
$GC,1423,-2.40,-29.3,74.1,-5.4,153,1430,0.12,2.30,0.00,0.000,6,0.202,0.035,2045,2251,2926
$GC,1750,-2.40,-32.2,88.5,-4.3,184,1754,0.00,2.28,0.00,0.000,4,0.000,0.040,2045,834,2926
$STATE,1916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1916,begin apogee
$GC,1924,-0.28,0.0,95.1,3.4,198,1954,2.40,0.00,25.48,0.852,6,0.170,0.000,2721,2155,2799
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1958,2.40,32.2,95.3,0.0,201,1992,2.50,2.42,25.42,0.711,4,0.074,0.049,3595,3553,2667
$GC,2108,2.40,32.2,78.3,14.2,214,2112,0.00,2.30,0.00,0.000,6,0.000,0.034,3606,2149,2666
$GC,2435,2.40,32.2,37.2,11.7,244,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2149,2666
$GC,2626,2.40,32.2,16.7,10.2,265,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2149,2666
$GC,2701,2.40,32.2,9.6,9.4,278,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2149,2666
$GC,2775,2.40,32.2,4.2,7.0,291,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2149,2666
$GC,2849,2.43,57.8,5.0,-1.7,304,2873,0.00,2.38,19.52,0.793,4,0.000,0.045,3616,745,2564
$GC,2964,2.44,68.1,2.9,2.3,324,2977,0.00,2.28,8.27,0.759,6,0.000,0.035,3616,2149,2522
$GC,3046,2.47,86.6,2.6,0.1,338,3064,0.00,2.40,8.70,0.718,4,0.000,0.050,3617,3552,2445
$STATE,3091,end climb,SURFACE_DEPTH_REACHED
$STATE,3091,begin surface coast
$FINISH,0.6,1.024276
$STATE,3142,end surface coast,CONTROL_FINISHED_OK
$STATE,3142,begin surface
$SM_CCo,3165,95.07,0.667,0,0,1576,300.00
$SM_GC,1.38,0.00,0.00,95.07,0.000,0.000,0.667,5,2238,1576,-8.80,-0.34,300.00
$IRIDIUM_FIX,4751.72,-12226.29,180907,212152
$TT8_MAMPS,0.026845
$HUMID,1863
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,40.0
$24V_AH,25.2,32.804
$10V_AH,10.7,16.314
$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,24.375,32.225,87.400,95.075,0.000,39.681,60.680,153.832,0.250,0.000,0.000,11.919,630.776,1549.385,255.870,803.341,387.500,33.330,628.986,0.000,819.676,0.000,2.510
$DEVICE_MAMPS,215.527,55.991,852.137,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.683,276.971,599.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19134,355
$CFSIZE,260165632,248815616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,193508,4806.849,-12223.174,8,1.4,20,18.3