version: 66.03
glider: 128
mission: 2
dive: 438
start: 9 23 107 14 45 40
data:
$ID,128
$MISSION,2
$DIVE,438
$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,-69599.641
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,144025,4805.519,-12221.357,30,2.0,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.1
$GPS2,144439,4805.501,-12221.351,10,1.8,10,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,0.154
$KALMAN_X,-11472.3,309.4,40.6,13843.5,-19.4
$KALMAN_Y,-10499.5,-446.3,-130.3,7077.7,-270.1
$MHEAD_RNG_PITCHd_Wd,323.6,5670,-11.3,-5.278
$D_GRID,110
$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,-146.6,0.0,0.0,0,111,0.00,0.00,-81.50,0.000,2,0.000,0.000,14,2230,3363
$GC,115,-0.81,-146.6,3.2,-2.9,15,134,10.18,2.42,-0.73,0.000,4,0.205,0.058,2545,3645,3402
$GC,381,-0.81,-146.6,27.8,-7.0,52,388,0.00,2.20,0.00,0.000,6,0.000,0.027,2545,2237,3403
$GC,579,-0.81,-146.6,40.3,-6.1,71,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2234,3403
$GC,770,-0.81,-146.6,52.0,-5.8,89,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2235,3404
$GC,1090,-0.81,-146.6,71.5,-6.2,119,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2235,3404
$GC,1410,-0.81,-146.6,91.3,-6.2,149,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2235,3403
$STATE,1468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1468,begin apogee
$GC,1475,-0.28,0.0,95.4,6.2,155,1592,0.55,0.00,111.45,0.757,6,0.109,0.000,2722,2155,2799
$STATE,1593,end apogee,CONTROL_FINISHED_OK
$STATE,1593,begin climb
$GC,1596,0.81,146.6,98.0,0.0,167,1715,1.08,2.47,110.55,0.705,4,0.077,0.043,3075,3548,2201
$GC,1745,0.81,146.6,90.0,9.0,181,1749,0.00,2.30,0.00,0.000,6,0.000,0.028,3081,2158,2200
$GC,2073,0.81,146.6,63.8,8.1,211,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2157,2198
$GC,2389,0.81,146.6,39.3,7.3,241,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2157,2198
$GC,2580,0.81,146.6,25.3,7.1,259,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2157,2199
$GC,2779,0.81,146.6,11.3,7.0,287,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2157,2198
$GC,2854,0.81,146.6,6.0,7.1,300,2860,0.00,2.30,0.00,0.000,4,0.000,0.044,3082,3555,2199
$STATE,2921,end climb,SURFACE_DEPTH_REACHED
$STATE,2921,begin surface coast
$FINISH,0.9,1.025433
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2962,95.47,0.682,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,95.47,0.000,0.000,0.682,14,2235,1372,-8.77,-0.42,350.04
$IRIDIUM_FIX,4748.51,-12220.12,230907,171708
$TT8_MAMPS,0.026845
$HUMID,1910
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,32.2
$24V_AH,24.5,41.459
$10V_AH,10.7,21.278
$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,20.400,13.875,222.000,95.475,0.000,30.001,13.995,109.518,0.750,0.000,0.000,12.502,519.072,1534.789,352.866,630.718,296.284,33.329,674.337,0.000,641.994,0.000,7.043
$DEVICE_MAMPS,204.789,71.331,757.029,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.456,247.398,531.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,315
$CFSIZE,260165632,245194752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,153744,4805.749,-12221.591,11,1.7,28,18.3