version: 66.03
glider: 128
mission: 2
dive: 346
start: 9 19 107 23 4 7
data:
$ID,128
$MISSION,2
$DIVE,346
$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,-67665.547
$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,56
$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
$GPS1,225903,4807.804,-12223.706,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.1
$GPS2,230307,4807.777,-12223.686,10,1.3,26,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.055,0.134
$KALMAN_X,-2357.1,-166.2,49.3,2308.9,-179.9
$KALMAN_Y,-2758.5,277.6,-113.9,2814.9,-96.3
$MHEAD_RNG_PITCHd_Wd,319.4,567,-12.7,-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,-0.85,-113.9,0.0,0.0,0,99,0.00,0.00,-69.75,0.000,6,0.000,0.000,6,2275,3265
$GC,102,-0.89,-146.6,3.0,-2.7,13,122,10.27,2.97,-2.88,0.000,4,0.213,0.049,2529,486,3399
$GC,156,-0.89,-146.6,11.3,-14.2,22,163,0.00,2.85,0.00,0.000,6,0.000,0.033,2524,2235,3400
$GC,232,-0.89,-146.6,16.9,-7.3,35,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2235,3401
$GC,310,-0.89,-146.6,22.6,-7.1,46,314,0.00,2.95,0.00,0.000,4,0.000,0.050,2514,3999,3402
$GC,342,-0.89,-146.6,25.1,-7.7,48,349,0.00,2.83,0.00,0.000,6,0.000,0.028,2514,2225,3402
$GC,540,-0.89,-146.6,39.6,-7.1,67,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2222,3402
$GC,731,-0.89,-146.6,53.6,-7.1,85,736,0.00,2.97,0.00,0.000,4,0.000,0.050,2501,4003,3402
$GC,759,-0.89,-146.6,55.9,-7.7,87,765,0.12,2.78,0.00,0.000,6,0.134,0.028,2532,2239,3402
$GC,1084,-0.89,-146.6,78.6,-6.6,117,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2236,3402
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1332,-0.28,0.0,95.1,7.0,140,1450,0.60,0.00,111.30,0.765,6,0.116,0.000,2723,2157,2799
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1453,0.89,146.6,97.8,0.0,152,1570,1.15,0.00,110.82,0.709,6,0.079,0.000,3098,2157,2201
$GC,1889,0.89,146.6,63.9,8.6,194,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2157,2199
$GC,2207,0.89,146.6,36.5,8.2,224,2212,0.00,2.92,0.00,0.000,4,0.000,0.047,3098,3911,2199
$GC,2237,0.89,146.6,33.9,9.5,226,2242,0.00,2.83,0.00,0.000,6,0.000,0.029,3110,2154,2198
$GC,2437,0.89,146.6,17.0,8.2,247,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2150,2198
$GC,2511,0.89,146.6,11.1,8.1,260,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2150,2198
$GC,2585,0.89,146.6,5.2,8.0,273,2592,0.00,2.92,0.00,0.000,4,0.000,0.048,3110,3905,2199
$GC,2604,0.89,146.6,3.5,8.1,276,2610,0.00,2.83,0.00,0.000,6,0.000,0.029,3123,2138,2198
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,0.4,1.011291
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2674,72.12,0.703,0,0,1576,300.00
$SM_GC,1.12,0.00,0.00,72.12,0.000,0.000,0.703,6,2268,1576,-8.80,0.51,300.00
$IRIDIUM_FIX,4748.51,-12226.29,200907,020238
$TT8_MAMPS,0.026078
$HUMID,1908
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,24.5,34.821
$10V_AH,10.7,17.512
$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,20.900,29.125,222.125,72.125,0.000,31.267,13.615,90.869,1.750,0.000,0.000,28.190,481.800,1338.224,357.135,572.489,262.748,33.313,653.454,0.000,568.021,0.000,11.226
$DEVICE_MAMPS,213.226,71.331,765.466,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.547,222.367,480.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12776,285
$CFSIZE,260165632,247603200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,235107,4807.988,-12223.971,36,0.7,36,18.3