version: 66.03
glider: 128
mission: 2
dive: 416
start: 9 22 107 18 3 52
data:
$ID,128
$MISSION,2
$DIVE,416
$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,-69107.914
$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,44
$R_STBD_OVSHOOT,50
$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
$GPS1,175845,4806.338,-12222.358,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.6
$GPS2,180251,4806.305,-12222.347,10,1.6,10,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,0.160
$KALMAN_X,-9605.4,139.1,0.2,10957.1,-221.8
$KALMAN_Y,-7410.4,-80.9,-32.4,5015.2,-81.0
$MHEAD_RNG_PITCHd_Wd,331.8,3746,-11.3,-5.278
$D_GRID,107
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.81,-146.6,0.0,0.0,0,110,0.00,0.00,-80.88,0.000,2,0.000,0.000,13,2271,3373
$GC,114,-0.81,-146.6,3.6,-3.4,15,133,10.25,2.33,-0.50,0.000,4,0.208,0.057,2545,3641,3401
$GC,260,-0.81,-146.6,19.5,-6.7,40,267,0.00,2.25,0.00,0.000,6,0.000,0.027,2545,2231,3403
$GC,338,-0.81,-146.6,24.6,-6.4,48,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2229,3403
$GC,529,-0.81,-146.6,36.7,-6.2,66,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2229,3403
$GC,720,-0.81,-146.6,48.9,-6.6,84,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2229,3403
$GC,911,-0.81,-146.6,60.8,-6.3,102,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2229,3403
$GC,1229,-0.81,-146.6,80.0,-5.7,132,1233,0.00,2.33,0.00,0.000,4,0.000,0.047,2536,3638,3403
$GC,1315,-0.81,-146.6,85.4,-6.7,139,1319,0.00,2.17,0.00,0.000,6,0.000,0.028,2536,2237,3403
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1475,-0.28,0.0,95.3,6.3,153,1592,0.60,0.00,111.22,0.747,6,0.111,0.000,2727,2156,2799
$STATE,1592,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1595,0.81,146.6,98.0,0.0,165,1712,1.05,0.00,110.80,0.695,6,0.077,0.000,3074,2155,2201
$GC,2031,0.81,146.6,66.9,7.6,207,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2156,2198
$GC,2349,0.81,146.6,41.6,7.7,237,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2156,2198
$GC,2541,0.81,146.6,27.2,7.5,255,2545,0.00,2.28,0.00,0.000,4,0.000,0.044,3074,3540,2198
$GC,2575,0.81,146.6,24.4,7.8,258,2579,0.00,2.20,0.00,0.000,6,0.000,0.029,3083,2157,2198
$GC,2783,0.81,146.6,9.2,7.4,289,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2156,2198
$GC,2858,0.81,146.6,3.7,7.1,302,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2156,2198
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,0.3,1.025594
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2945,96.50,0.682,0,0,1372,350.04
$SM_GC,1.00,0.00,0.00,96.50,0.000,0.000,0.682,11,2260,1372,-8.78,0.25,350.04
$IRIDIUM_FIX,4748.51,-12219.12,220907,212108
$TT8_MAMPS,0.026078
$HUMID,1915
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,41.7
$24V_AH,24.5,39.855
$10V_AH,10.7,20.391
$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,20.450,13.775,222.025,96.500,0.000,28.259,26.843,93.716,0.750,0.000,0.000,11.519,517.658,1527.264,371.440,605.573,288.547,33.327,680.908,0.000,624.451,0.000,2.510
$DEVICE_MAMPS,207.857,71.331,747.058,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.320,247.260,529.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15950,314
$CFSIZE,260165632,245743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,185521,4806.652,-12222.589,9,1.8,9,18.3