version: 66.02
glider: 128
mission: 2
dive: 300
start: 9 18 107 1 41 41
data:
$ID,128
$MISSION,2
$DIVE,300
$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,-66407.406
$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,38
$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,80
$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
$GPS1,013305,4807.490,-12223.475,7,5.6,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.6
$GPS2,014038,4807.487,-12223.471,11,1.2,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.117
$KALMAN_X,21298.5,34.0,19.5,-20826.7,37.2
$KALMAN_Y,12529.2,313.7,136.9,-14793.5,79.4
$MHEAD_RNG_PITCHd_Wd,299.9,1154,-10.6,-5.026
$D_GRID,103
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.6,0.0,0.0,0,90,0.00,0.00,-65.22,0.000,2,0.000,0.000,6,2263,3229
$GC,93,-0.77,-146.6,3.6,-3.6,12,112,10.38,2.42,-3.40,0.000,4,0.211,0.057,2564,845,3402
$GC,332,-0.77,-146.6,25.6,-7.1,47,336,0.00,2.30,0.00,0.000,6,0.000,0.039,2565,2246,3404
$GC,529,-0.77,-146.6,38.0,-6.3,65,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2247,3405
$GC,720,-0.77,-146.6,49.7,-6.2,83,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2247,3405
$GC,911,-0.77,-146.6,61.4,-6.3,101,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2247,3405
$GC,1230,-0.77,-146.6,81.4,-6.4,131,1234,0.00,2.35,0.00,0.000,4,0.000,0.053,2562,3664,3405
$GC,1270,-0.77,-146.6,84.0,-6.4,134,1274,0.00,2.25,0.00,0.000,6,0.000,0.028,2562,2238,3405
$STATE,1454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1454,begin apogee
$GC,1460,-0.28,0.0,95.6,6.1,151,1577,0.50,0.00,111.53,0.755,6,0.110,0.000,2722,2130,2799
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,0.77,146.6,98.2,0.0,163,1696,1.02,0.00,110.62,0.698,6,0.081,0.000,3059,2130,2202
$GC,2014,0.77,146.6,70.7,7.2,204,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2130,2199
$GC,2332,0.77,146.6,49.0,7.0,234,2336,0.00,2.38,0.00,0.000,4,0.000,0.051,3059,3555,2198
$GC,2393,0.77,146.6,44.2,7.8,239,2400,0.00,2.28,0.00,0.000,6,0.000,0.034,3065,2167,2198
$GC,2591,0.77,146.6,30.8,6.5,258,2595,0.00,2.33,0.00,0.000,4,0.000,0.047,3067,743,2198
$GC,2631,0.77,146.6,28.2,6.6,261,2635,0.00,2.30,0.00,0.000,6,0.000,0.038,3067,2158,2198
$GC,2832,0.77,146.6,15.1,6.5,285,2838,0.00,2.33,0.00,0.000,4,0.000,0.053,3067,3566,2198
$GC,2861,0.77,146.6,13.0,6.6,290,2868,0.00,2.30,0.00,0.000,6,0.000,0.034,3076,2156,2198
$GC,2936,0.77,146.6,8.1,6.4,303,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2156,2198
$GC,3012,0.77,146.6,3.6,6.0,316,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2156,2198
$STATE,3061,end climb,SURFACE_DEPTH_REACHED
$STATE,3061,begin surface coast
$FINISH,0.5,1.024369
$STATE,3135,end surface coast,CONTROL_FINISHED_OK
$STATE,3135,begin surface
$SM_CCo,3154,82.22,0.700,0,0,1577,300.00
$SM_GC,1.41,0.00,0.00,82.22,0.000,0.000,0.700,7,2262,1577,-8.79,0.37,300.00
$IRIDIUM_FIX,4748.51,-12229.01,180907,040431
$TT8_MAMPS,0.026078
$HUMID,1841
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,40.2
$24V_AH,24.5,31.601
$10V_AH,10.7,15.586
$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,20.500,23.525,222.150,82.225,0.000,75.697,119.668,107.145,0.250,0.000,0.000,12.970,566.054,1698.387,339.347,686.882,424.201,33.324,687.896,0.000,698.791,0.000,2.509
$DEVICE_MAMPS,210.925,62.127,754.728,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.344,263.111,570.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,338
$CFSIZE,260165632,249290752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,023626,4807.801,-12223.756,6,1.8,12,18.3