version: 66.03
glider: 128
mission: 2
dive: 343
start: 9 19 107 20 11 5
data:
$ID,128
$MISSION,2
$DIVE,343
$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,-67606.461
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,200559,4807.034,-12222.911,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.3
$GPS2,201005,4807.006,-12222.927,14,2.1,33,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.019,0.156
$KALMAN_X,-2178.9,117.1,34.5,2801.4,-269.7
$KALMAN_Y,-2365.3,119.9,-75.3,1111.5,-113.7
$MHEAD_RNG_PITCHd_Wd,334.6,2269,-10.6,-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,26,-0.77,-146.6,0.0,0.0,0,100,0.00,0.00,-71.30,0.000,2,0.000,0.000,11,2266,3311
$GC,103,-0.77,-146.6,3.0,-2.7,13,122,10.27,2.90,-1.90,0.000,4,0.209,0.059,2556,3990,3400
$GC,224,-0.77,-146.6,15.4,-6.8,34,231,0.00,2.83,0.00,0.000,6,0.000,0.028,2556,2227,3401
$GC,299,-0.77,-146.6,20.0,-6.1,47,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$GC,490,-0.77,-146.6,31.5,-6.1,65,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$GC,681,-0.77,-146.6,43.4,-6.5,83,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$GC,873,-0.77,-146.6,55.2,-6.1,101,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$GC,1191,-0.77,-146.6,75.1,-6.3,131,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$GC,1510,-0.77,-146.6,94.4,-6.1,161,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2225,3402
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1525,-0.28,0.0,95.0,6.1,162,1642,0.52,0.00,111.03,0.755,6,0.110,0.000,2723,2147,2799
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1645,0.77,146.6,97.5,0.0,174,1763,1.02,0.00,110.90,0.707,6,0.080,0.000,3060,2146,2201
$GC,2081,0.77,146.6,68.7,7.5,216,2085,0.00,2.92,0.00,0.000,4,0.000,0.046,3060,3891,2199
$GC,2110,0.77,146.6,66.4,8.9,218,2115,0.00,2.80,0.00,0.000,6,0.000,0.029,3072,2162,2199
$GC,2437,0.77,146.6,41.2,7.9,248,2442,0.00,2.90,0.00,0.000,4,0.000,0.043,3084,391,2198
$GC,2477,0.77,146.6,37.9,7.8,251,2481,0.00,2.80,0.00,0.000,6,0.000,0.032,3084,2135,2198
$GC,2674,0.77,146.6,22.6,7.4,269,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2136,2198
$GC,2874,0.77,146.6,7.8,7.3,301,2881,0.00,2.92,0.00,0.000,4,0.000,0.048,3084,3909,2199
$GC,2893,0.77,146.6,6.3,7.5,304,2900,0.00,2.83,0.00,0.000,6,0.000,0.030,3094,2142,2198
$STATE,2954,end climb,SURFACE_DEPTH_REACHED
$STATE,2954,begin surface coast
$FINISH,0.4,1.009884
$STATE,2985,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,3004,72.30,0.697,0,0,1576,300.00
$SM_GC,1.07,0.00,0.00,72.30,0.000,0.000,0.697,10,2263,1576,-8.78,0.37,300.00
$IRIDIUM_FIX,4748.51,-12224.57,190907,232341
$TT8_MAMPS,0.026078
$HUMID,1898
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.6,40.7
$24V_AH,24.5,34.620
$10V_AH,10.7,17.394
$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,20.450,23.150,221.925,72.300,0.000,24.314,16.428,90.308,0.750,0.000,0.000,35.629,532.688,1572.178,341.939,639.092,258.786,33.311,653.512,0.000,633.101,0.000,2.508
$DEVICE_MAMPS,208.624,72.098,755.495,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.758,250.151,539.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15969,320
$CFSIZE,260165632,247681024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,210308,4807.312,-12223.104,9,1.5,9,18.3