version: 66.03
glider: 128
mission: 2
dive: 321
start: 9 18 107 23 15 54
data:
$ID,128
$MISSION,2
$DIVE,321
$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,-67099.195
$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
$ROLL_DEG,50
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$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,32
$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
$GPS1,231126,4807.821,-12223.772,7,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.6
$GPS2,231457,4807.853,-12223.779,14,1.3,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,0.027
$KALMAN_X,-36.6,-36.6,-36.6,-166.7,-133.5
$KALMAN_Y,51.3,51.3,51.3,199.9,187.2
$MHEAD_RNG_PITCHd_Wd,284.0,386,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.38,-12.9,0.0,0.0,0,79,0.00,0.00,-53.25,0.000,6,0.000,0.000,16,2260,2854
$GC,82,-2.40,-28.4,1.5,-0.9,10,101,8.02,3.00,-2.17,0.000,4,0.205,0.054,2044,483,2918
$GC,406,-2.42,-45.2,5.6,-0.6,67,413,0.00,2.85,-1.70,0.000,6,0.000,0.032,2033,2258,2987
$GC,481,-2.42,-50.0,7.9,-3.8,80,488,0.00,2.90,-0.32,0.000,4,0.000,0.052,2033,482,3005
$GC,791,-2.42,-50.0,30.9,-7.9,122,798,0.00,2.83,0.00,0.000,6,0.000,0.032,2021,2249,3006
$GC,989,-2.42,-50.0,45.4,-7.3,141,994,0.00,2.88,0.00,0.000,4,0.000,0.042,2021,475,3007
$GC,1298,-2.42,-50.0,69.6,-8.0,168,1304,0.12,2.33,0.00,0.000,6,0.196,0.032,2036,1944,3007
$GC,1629,-2.42,-50.0,94.6,-7.5,199,1633,0.00,2.15,0.00,0.000,3,0.000,0.044,2037,613,3007
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1642,-0.28,0.0,95.0,7.4,199,1689,2.42,0.00,39.47,0.821,6,0.167,0.000,2723,2149,2799
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1692,2.42,50.0,96.4,0.0,204,1739,2.53,3.00,38.33,0.706,4,0.071,0.050,3603,3900,2595
$GC,2043,2.42,50.0,39.5,16.5,235,2048,0.00,2.85,0.00,0.000,6,0.000,0.033,3617,2149,2593
$GC,2245,2.42,50.0,10.3,13.6,259,2251,0.00,2.95,0.00,0.000,4,0.000,0.051,3617,3902,2592
$GC,2303,2.42,50.0,2.2,14.1,269,2310,0.12,2.85,0.00,0.000,6,0.186,0.035,3603,2153,2592
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,1.6,1.023568
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2354,122.75,0.669,0,0,1577,300.00
$SM_GC,1.33,0.00,0.00,122.75,0.000,0.000,0.669,6,2263,1577,-8.80,0.37,300.00
$IRIDIUM_FIX,4748.51,-12226.29,190907,030320
$TT8_MAMPS,0.026078
$HUMID,1838
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,40.5
$24V_AH,25.0,33.130
$10V_AH,10.8,16.491
$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,24.025,33.250,77.800,122.750,0.000,0.000,0.000,0.000,0.500,0.000,0.000,16.247,500.442,1074.760,268.556,635.150,78.978,30.176,568.133,0.000,643.002,0.000,2.526
$DEVICE_MAMPS,204.789,53.690,820.690,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,192.469,212.781,462.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12841,274
$CFSIZE,260165632,248246272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,235825,4807.803,-12223.876,38,1.2,38,18.3