version: 66.03
glider: 128
mission: 2
dive: 391
start: 9 21 107 19 6 36
data:
$ID,128
$MISSION,2
$DIVE,391
$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,60
$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,350
$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,-68613.875
$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,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,42
$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
$GPS1,185357,4807.253,-12223.241,11,1.3,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.9
$GPS2,190533,4807.332,-12223.330,11,1.3,11,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.144
$KALMAN_X,-7477.9,40.8,-44.6,7759.2,-157.9
$KALMAN_Y,-4486.1,-95.3,112.7,3859.9,112.2
$MHEAD_RNG_PITCHd_Wd,314.7,1490,-11.3,-5.278
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.81,-146.6,0.0,0.0,0,103,0.00,0.00,-76.43,0.000,2,0.000,0.000,12,2268,3267
$GC,107,-0.81,-146.6,3.3,-3.0,14,126,10.20,2.33,-2.70,0.000,4,0.207,0.060,2541,3648,3400
$GC,429,-0.81,-146.6,30.7,-6.9,57,435,0.00,2.22,0.00,0.000,6,0.000,0.027,2541,2230,3402
$GC,627,-0.81,-146.6,43.3,-6.6,76,631,0.00,2.35,0.00,0.000,4,0.000,0.048,2533,3648,3403
$GC,729,-0.81,-146.6,50.4,-6.4,85,733,0.00,2.17,0.00,0.000,6,0.000,0.027,2533,2248,3403
$GC,1057,-0.81,-146.6,72.4,-6.4,115,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2246,3403
$GC,1382,-0.81,-146.6,94.5,-6.6,146,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2246,3403
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1397,-0.28,0.0,95.3,6.6,147,1514,0.60,0.00,111.28,0.750,6,0.113,0.000,2723,2153,2799
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1518,0.81,146.6,97.6,0.0,159,1635,1.08,0.00,110.80,0.687,6,0.078,0.000,3075,2152,2201
$GC,1954,0.81,146.6,66.2,8.1,201,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2153,2198
$GC,2273,0.81,146.6,41.4,7.6,231,2277,0.00,2.30,0.00,0.000,4,0.000,0.044,3075,3546,2198
$GC,2307,0.81,146.6,38.6,8.2,234,2311,0.00,2.22,0.00,0.000,6,0.000,0.029,3078,2151,2198
$GC,2505,0.81,146.6,23.5,7.3,252,2509,0.00,2.25,0.00,0.000,4,0.000,0.039,3081,753,2198
$GC,2537,0.81,146.6,21.0,6.9,254,2544,0.00,2.22,0.00,0.000,6,0.000,0.032,3081,2149,2198
$GC,2746,0.81,146.6,6.5,6.7,290,2752,0.00,2.30,0.00,0.000,4,0.000,0.047,3081,3558,2198
$GC,2799,0.81,146.6,3.6,5.4,299,2805,0.00,2.22,0.00,0.000,6,0.000,0.029,3084,2141,2197
$GC,2874,0.94,254.1,2.0,2.0,312,2882,0.12,0.00,5.12,0.653,2,0.064,0.000,3148,2140,2173
$STATE,2882,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$FINISH,0.3,1.024319
$STATE,3008,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3028,96.72,0.673,0,0,1372,350.04
$SM_GC,1.22,0.00,0.00,96.72,0.000,0.000,0.673,13,2270,1372,-8.77,0.57,350.04
$IRIDIUM_FIX,4748.51,-12226.29,210907,222234
$TT8_MAMPS,0.026845
$HUMID,1893
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,47.1
$24V_AH,24.5,38.084
$10V_AH,10.7,19.410
$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,20.850,22.875,227.200,96.725,0.000,95.386,184.737,190.308,0.750,0.000,0.000,12.510,557.970,1618.127,378.979,670.542,619.494,33.336,715.799,0.000,688.841,0.000,2.521
$DEVICE_MAMPS,207.090,60.593,750.126,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.401,262.602,565.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15938,335
$CFSIZE,260165632,246374400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,195932,4807.664,-12223.645,13,1.9,13,18.3