version: 66.03
glider: 128
mission: 2
dive: 468
start: 9 24 107 18 51 35
data:
$ID,128
$MISSION,2
$DIVE,468
$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,-70269.32
$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,41
$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
$GPS1,184109,4807.508,-12223.605,11,1.1,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.9
$GPS2,185033,4807.604,-12223.632,10,1.9,10,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,0.152
$KALMAN_X,-15261.6,174.2,135.0,14855.3,-252.2
$KALMAN_Y,-11289.1,49.0,-90.1,11230.6,180.4
$MHEAD_RNG_PITCHd_Wd,321.5,862,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.81,-146.6,0.0,0.0,0,109,0.00,0.00,-80.93,0.000,2,0.000,0.000,8,2257,3348
$GC,113,-0.81,-146.6,3.1,-2.5,15,132,10.30,2.38,-1.02,0.000,4,0.207,0.061,2545,3645,3400
$GC,437,-0.81,-146.6,32.6,-6.4,56,444,0.00,2.22,0.00,0.000,6,0.000,0.028,2545,2226,3402
$GC,636,-0.81,-146.6,44.9,-6.2,75,640,0.00,2.35,0.00,0.000,4,0.000,0.045,2536,3648,3403
$GC,669,-0.81,-146.6,47.2,-6.5,77,675,0.00,2.17,0.00,0.000,6,0.000,0.027,2536,2248,3403
$GC,867,-0.81,-146.6,59.6,-6.6,96,871,0.00,2.33,0.00,0.000,4,0.000,0.045,2528,3654,3403
$GC,900,-0.81,-146.6,61.9,-6.6,98,907,0.12,2.20,0.00,0.000,6,0.130,0.027,2560,2236,3403
$GC,1226,-0.81,-146.6,81.6,-6.2,129,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2233,3403
$STATE,1456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1456,begin apogee
$GC,1464,-0.28,0.0,95.1,6.0,151,1581,0.50,0.00,111.38,0.752,6,0.107,0.000,2722,2164,2800
$STATE,1582,end apogee,CONTROL_FINISHED_OK
$STATE,1582,begin climb
$GC,1585,0.81,146.6,97.8,0.0,163,1704,1.08,2.45,110.70,0.704,4,0.077,0.043,3077,3544,2201
$GC,1790,0.81,146.6,84.4,9.4,182,1795,0.00,2.28,0.00,0.000,6,0.000,0.028,3086,2156,2199
$GC,2118,0.81,146.6,56.8,7.7,212,2122,0.00,2.33,0.00,0.000,4,0.000,0.042,3086,3547,2199
$GC,2158,0.81,146.6,53.2,8.7,215,2162,0.00,2.25,0.00,0.000,6,0.000,0.029,3096,2141,2199
$GC,2491,0.81,146.6,27.4,7.7,246,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2140,2199
$GC,2695,0.81,146.6,11.7,7.3,274,2702,0.00,2.30,0.00,0.000,4,0.000,0.043,3095,3547,2199
$GC,2737,0.81,146.6,8.3,7.9,281,2743,0.00,2.22,0.00,0.000,6,0.000,0.029,3105,2143,2199
$GC,2813,0.82,158.9,4.2,4.9,294,2831,0.00,2.28,9.73,0.788,4,0.000,0.039,3111,757,2152
$STATE,2863,end climb,SURFACE_DEPTH_REACHED
$STATE,2864,begin surface coast
$FINISH,0.4,1.003363
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2938,87.43,0.668,0,0,1372,350.04
$SM_GC,1.23,0.00,0.00,87.43,0.000,0.000,0.668,14,2257,1372,-8.77,0.20,350.04
$IRIDIUM_FIX,4751.72,-12226.29,240907,222253
$TT8_MAMPS,0.026845
$HUMID,1906
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,37.7
$24V_AH,24.5,43.603
$10V_AH,10.7,22.491
$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,20.775,32.250,231.800,87.425,0.000,87.134,53.963,194.558,0.750,0.000,0.000,13.767,521.031,1569.776,365.185,656.379,499.902,33.323,717.216,0.000,673.253,0.000,2.508
$DEVICE_MAMPS,207.090,87.438,787.709,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.007,245.775,526.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15967,312
$CFSIZE,260165632,244412416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,194307,4807.918,-12223.921,11,1.0,27,18.3