version: 66.02
glider: 128
mission: 2
dive: 318
start: 9 18 107 19 41 44
data:
$ID,128
$MISSION,2
$DIVE,318
$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,-66786.805
$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,36
$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
$GPS1,193508,4806.849,-12223.174,8,1.4,20,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.4
$GPS2,194044,4806.875,-12223.193,14,1.4,32,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.044
$KALMAN_X,23481.0,-76.6,-31.5,-22502.0,53.7
$KALMAN_Y,13507.3,217.8,20.0,-16689.2,61.3
$MHEAD_RNG_PITCHd_Wd,29.3,333,-34.3,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.93,-19.3,0.0,0.0,0,85,0.00,0.00,-55.30,0.000,6,0.000,0.000,5,2238,2879
$GC,88,-1.95,-40.8,1.9,-1.2,11,107,8.82,2.40,-2.65,0.000,4,0.209,0.061,2181,3654,2968
$GC,409,-1.95,-40.8,22.7,-5.0,63,416,0.00,2.28,0.00,0.000,6,0.000,0.028,2181,2236,2970
$GC,607,-1.95,-40.8,33.3,-5.1,82,611,0.00,2.38,0.00,0.000,4,0.000,0.048,2170,3664,2971
$GC,916,-1.95,-40.8,50.0,-5.5,109,923,0.00,2.22,0.00,0.000,6,0.000,0.028,2170,2243,2971
$GC,1114,-1.95,-40.8,59.9,-5.1,128,1118,0.00,2.35,0.00,0.000,4,0.000,0.048,2159,3664,2971
$GC,1424,-1.95,-40.8,77.9,-6.1,155,1428,0.12,2.22,0.00,0.000,6,0.181,0.028,2186,2245,2971
$GC,1750,-1.95,-40.8,94.9,-5.3,185,1754,0.00,2.12,0.00,0.000,3,0.000,0.048,2178,3542,2971
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1763,-0.28,0.0,95.3,5.3,185,1801,1.88,0.00,33.60,0.822,6,0.159,0.000,2718,2153,2800
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,1.95,40.8,96.3,0.0,189,1847,2.12,2.40,31.62,0.710,4,0.079,0.047,3461,761,2632
$GC,1944,1.95,40.8,82.1,12.3,201,1950,0.00,2.30,0.00,0.000,6,0.000,0.038,3461,2152,2631
$GC,2270,1.95,40.8,42.4,11.5,232,2274,0.00,2.35,0.00,0.000,4,0.000,0.051,3461,3568,2631
$GC,2298,1.95,40.8,38.9,12.0,234,2303,0.00,2.28,0.00,0.000,6,0.000,0.034,3471,2164,2631
$GC,2496,1.95,40.8,17.9,10.2,253,2503,0.00,2.35,0.00,0.000,4,0.000,0.051,3472,3569,2631
$GC,2520,1.95,40.8,15.2,10.3,257,2527,0.15,2.30,0.00,0.000,6,0.188,0.034,3449,2146,2631
$GC,2596,1.95,40.8,8.0,9.3,270,2602,0.00,2.38,0.00,0.000,4,0.000,0.051,3449,3563,2630
$GC,2637,1.95,40.8,4.5,8.5,277,2643,0.00,2.30,0.00,0.000,6,0.000,0.033,3458,2138,2630
$GC,2712,1.98,59.1,2.5,1.8,290,2730,0.00,2.45,13.50,0.830,4,0.000,0.051,3458,3557,2558
$STATE,2842,end climb,NO_VERTICAL_VELOCITY
$STATE,2842,begin surface
$SM_CCo,2845,262.20,0.648,0,0,203,636.80
$SM_GC,1.09,10.05,0.00,0.00,0.043,0.000,0.000,17,2238,194,-8.69,-0.34,639.25
$IRIDIUM_FIX,4738.89,-12556.20,180907,222205
$TT8_MAMPS,0.026078
$HUMID,1852
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,15.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,40.1
$24V_AH,25.1,32.881
$10V_AH,10.8,16.357
$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,23.150,41.550,78.725,262.200,0.000,37.703,39.894,147.042,0.750,0.000,0.000,34.041,567.404,1510.243,420.047,727.441,350.897,33.326,760.126,0.000,719.748,0.000,4.322
$DEVICE_MAMPS,209.391,60.593,829.894,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.667,246.714,528.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15993,313
$CFSIZE,260165632,248795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,203629,4806.938,-12223.096,9,4.1,29,18.3