version: 66.03
glider: 128
mission: 2
dive: 338
start: 9 19 107 15 24 17
data:
$ID,128
$MISSION,2
$DIVE,338
$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,-67512.617
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,151931,4805.630,-12221.809,35,1.7,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.2
$GPS2,152315,4805.600,-12221.791,15,1.6,15,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,0.157
$KALMAN_X,-1552.4,394.5,-2.7,3338.7,-268.2
$KALMAN_Y,-2206.3,-1.4,183.7,-1789.3,-103.6
$MHEAD_RNG_PITCHd_Wd,338.6,5217,-10.6,-5.026
$D_GRID,110
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-71.07,0.000,2,0.000,0.000,6,2269,3353
$GC,102,-0.77,-146.6,3.7,-3.6,13,122,10.38,2.92,-0.88,0.000,4,0.212,0.060,2554,3989,3401
$GC,201,-0.77,-146.6,16.8,-7.0,30,208,0.00,2.83,0.00,0.000,6,0.000,0.028,2554,2229,3402
$GC,275,-0.77,-146.6,21.6,-6.7,41,280,0.00,2.83,0.00,0.000,4,0.000,0.041,2554,506,3402
$GC,315,-0.77,-146.6,24.3,-6.7,44,319,0.00,2.83,0.00,0.000,6,0.000,0.033,2551,2244,3402
$GC,512,-0.77,-146.6,37.2,-6.6,62,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2244,3403
$GC,703,-0.77,-146.6,49.5,-6.2,80,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2244,3404
$GC,894,-0.77,-146.6,61.2,-6.0,98,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2244,3404
$GC,1213,-0.77,-146.6,80.7,-6.1,128,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2244,3404
$STATE,1455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1455,begin apogee
$GC,1461,-0.28,0.0,95.1,5.8,151,1578,0.52,0.00,111.35,0.756,6,0.110,0.000,2721,2142,2799
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1579,begin climb
$GC,1582,0.77,146.6,97.4,0.0,163,1699,1.05,0.00,110.97,0.706,6,0.078,0.000,3064,2141,2201
$GC,2017,0.77,146.6,66.3,8.0,205,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2141,2199
$GC,2336,0.77,146.6,41.2,7.5,235,2340,0.00,2.95,0.00,0.000,4,0.000,0.048,3064,3908,2199
$GC,2379,0.77,146.6,37.2,9.2,238,2386,0.00,2.80,0.00,0.000,6,0.000,0.030,3076,2170,2198
$GC,2577,0.77,146.6,22.7,6.9,257,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2168,2199
$GC,2777,0.77,146.6,9.1,6.6,289,2784,0.00,2.88,0.00,0.000,4,0.000,0.044,3076,395,2199
$GC,2807,0.77,146.6,7.1,6.6,294,2813,0.00,2.83,0.00,0.000,6,0.000,0.033,3076,2151,2198
$GC,2882,0.77,146.6,2.7,5.6,307,2888,0.00,2.90,0.00,0.000,4,0.000,0.043,3078,382,2198
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,0.5,1.024582
$STATE,2963,end surface coast,CONTROL_FINISHED_OK
$STATE,2963,begin surface
$SM_CCo,2984,74.57,0.700,0,0,1576,300.00
$SM_GC,1.47,0.00,0.00,74.57,0.000,0.000,0.700,13,2252,1576,-8.77,0.06,300.00
$IRIDIUM_FIX,4745.30,-12224.57,190907,181839
$TT8_MAMPS,0.026845
$HUMID,1930
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,44.7
$24V_AH,24.5,34.278
$10V_AH,10.7,17.191
$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,20.600,28.925,222.325,74.575,0.000,25.115,16.602,87.102,0.250,0.000,0.000,16.695,532.014,1549.255,353.206,617.650,254.661,33.309,665.241,0.000,630.725,0.000,2.515
$DEVICE_MAMPS,211.692,59.826,756.262,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.232,252.614,541.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16032,321
$CFSIZE,260165632,247808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,161632,4805.963,-12221.964,39,1.7,39,18.3