version: 66.03
glider: 128
mission: 2
dive: 344
start: 9 19 107 21 7 53
data:
$ID,128
$MISSION,2
$DIVE,344
$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,-67622.57
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,210308,4807.312,-12223.104,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.4
$GPS2,210651,4807.287,-12223.117,13,1.2,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,0.151
$KALMAN_X,-2230.2,3.9,42.8,2720.9,-254.9
$KALMAN_Y,-2388.9,148.9,-146.8,1697.4,-58.5
$MHEAD_RNG_PITCHd_Wd,325.4,1713,-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,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,-70.97,0.000,2,0.000,0.000,10,2263,3308
$GC,102,-0.77,-146.6,3.1,-2.7,13,121,10.38,2.92,-1.88,0.000,4,0.212,0.050,2568,496,3398
$GC,162,-0.77,-146.6,11.9,-12.8,23,168,0.00,2.85,0.00,0.000,6,0.000,0.032,2566,2239,3400
$GC,237,-0.77,-146.6,16.7,-6.2,36,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,3401
$GC,315,-0.77,-146.6,21.6,-6.2,48,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,3401
$GC,507,-0.77,-146.6,33.7,-6.5,66,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,3401
$GC,698,-0.77,-146.6,45.5,-6.2,84,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,3402
$GC,889,-0.77,-146.6,57.3,-5.8,102,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,3402
$GC,1207,-0.77,-146.6,76.2,-5.9,132,1212,0.00,2.92,0.00,0.000,4,0.000,0.051,2557,4004,3402
$GC,1236,-0.77,-146.6,77.9,-6.5,134,1240,0.00,2.80,0.00,0.000,6,0.000,0.028,2557,2227,3402
$STATE,1526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1526,begin apogee
$GC,1534,-0.28,0.0,95.4,5.8,161,1651,0.52,0.00,110.90,0.755,6,0.110,0.000,2725,2148,2799
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1655,0.77,146.6,97.8,0.0,173,1772,1.02,0.00,110.95,0.706,6,0.078,0.000,3061,2148,2201
$GC,2090,0.77,146.6,67.9,7.7,215,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2148,2199
$GC,2409,0.77,146.6,44.7,7.6,245,2413,0.00,2.92,0.00,0.000,4,0.000,0.047,3061,3903,2198
$GC,2452,0.77,146.6,40.9,8.2,248,2459,0.00,2.80,0.00,0.000,6,0.000,0.030,3072,2160,2198
$GC,2650,0.77,146.6,26.4,7.0,267,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2158,2198
$GC,2847,0.77,146.6,12.3,7.2,294,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2158,2198
$GC,2921,0.77,146.6,7.2,6.9,307,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2158,2198
$GC,2995,0.77,146.6,2.8,5.6,320,3001,0.00,2.88,0.00,0.000,4,0.000,0.042,3081,389,2197
$STATE,3011,end climb,SURFACE_DEPTH_REACHED
$STATE,3011,begin surface coast
$FINISH,0.4,1.024945
$STATE,3052,end surface coast,CONTROL_FINISHED_OK
$STATE,3052,begin surface
$SM_CCo,3074,71.95,0.696,0,0,1577,300.00
$SM_GC,1.23,0.00,0.00,71.95,0.000,0.000,0.696,13,2261,1577,-8.77,0.31,300.00
$IRIDIUM_FIX,4748.51,-12229.01,200907,000034
$TT8_MAMPS,0.026078
$HUMID,1919
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,44.1
$24V_AH,24.5,34.686
$10V_AH,10.7,17.434
$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,20.525,23.225,221.850,71.950,0.000,25.048,13.724,88.853,0.250,0.000,0.000,15.487,544.194,1607.641,350.990,633.385,256.257,33.316,672.532,0.000,648.781,0.000,2.514
$DEVICE_MAMPS,211.692,72.865,755.495,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.497,260.615,556.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15958,330
$CFSIZE,260165632,247656448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,220103,4807.571,-12223.390,7,1.5,7,18.3