version: 66.03
glider: 128
mission: 2
dive: 512
start: 9 26 107 11 56 25
data:
$ID,128
$MISSION,2
$DIVE,512
$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,-71103.273
$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,51
$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
$GPS1,115037,4807.217,-12223.198,32,1.0,32,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.2
$GPS2,115521,4807.247,-12223.218,9,2.0,9,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,0.157
$KALMAN_X,-20738.7,299.2,-130.7,20985.2,-159.6
$KALMAN_Y,-13674.9,-112.9,307.6,12717.3,-113.6
$MHEAD_RNG_PITCHd_Wd,326.5,1697,-11.3,-5.278
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.81,-146.6,0.0,0.0,0,104,0.00,0.00,-75.57,0.000,2,0.000,0.000,8,2266,3241
$GC,108,-0.81,-146.6,3.1,-2.6,14,127,10.25,0.00,-3.28,0.000,6,0.206,0.000,2552,2266,3400
$GC,196,-0.81,-146.6,14.5,-7.4,29,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2266,3402
$GC,271,-0.81,-146.6,19.6,-6.7,42,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2266,3403
$GC,348,-0.81,-146.6,24.5,-6.2,50,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2266,3402
$GC,539,-0.81,-146.6,36.6,-6.6,68,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2266,3403
$GC,730,-0.81,-146.6,48.7,-6.6,86,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2266,3403
$GC,921,-0.81,-146.6,60.8,-5.9,104,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2266,3403
$GC,1240,-0.81,-146.6,80.3,-6.1,134,1244,0.00,2.28,0.00,0.000,4,0.000,0.037,2552,848,3403
$GC,1292,-0.81,-146.6,83.7,-6.4,138,1296,0.00,2.22,0.00,0.000,6,0.000,0.031,2550,2245,3403
$STATE,1476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1476,begin apogee
$GC,1484,-0.28,0.0,95.4,6.0,155,1601,0.55,0.00,111.82,0.758,6,0.106,0.000,2727,2120,2799
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1605,0.81,146.6,98.0,0.0,167,1723,1.05,0.00,111.12,0.694,6,0.074,0.000,3074,2119,2201
$GC,2041,0.81,146.6,67.8,8.1,209,2045,0.00,2.38,0.00,0.000,4,0.000,0.041,3075,3550,2199
$GC,2088,0.81,146.6,64.0,9.0,213,2092,0.00,2.22,0.00,0.000,6,0.000,0.028,3083,2165,2198
$GC,2418,0.81,146.6,38.0,7.7,243,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2161,2199
$GC,2616,0.81,146.6,22.5,7.5,262,2620,0.00,2.30,0.00,0.000,4,0.000,0.041,3084,3559,2199
$GC,2645,0.81,146.6,20.3,7.9,264,2650,0.00,2.25,0.00,0.000,6,0.000,0.028,3094,2140,2199
$GC,2855,0.81,146.6,5.2,6.7,300,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2139,2198
$STATE,2928,end climb,SURFACE_DEPTH_REACHED
$STATE,2928,begin surface coast
$FINISH,0.4,1.002115
$STATE,2990,end surface coast,CONTROL_FINISHED_OK
$STATE,2990,begin surface
$SM_CCo,3011,101.28,0.682,0,0,1372,350.04
$SM_GC,1.18,0.00,0.00,101.28,0.000,0.000,0.682,5,2266,1372,-8.80,0.45,350.04
$IRIDIUM_FIX,4748.51,-12221.84,260907,141453
$TT8_MAMPS,0.026078
$HUMID,1905
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,40.9
$24V_AH,24.4,46.777
$10V_AH,10.7,24.259
$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,20.550,13.975,222.950,101.275,0.000,29.359,14.455,134.248,0.250,0.000,0.000,10.884,537.140,1539.749,376.559,625.325,342.032,33.330,696.586,0.000,643.475,0.000,2.510
$DEVICE_MAMPS,205.556,49.855,757.796,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.229,256.926,546.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,324
$CFSIZE,260165632,243290112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,124908,4807.555,-12223.494,6,1.7,11,18.3