version: 66.03
glider: 128
mission: 2
dive: 521
start: 9 26 107 19 51 17
data:
$ID,128
$MISSION,2
$DIVE,521
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,640
$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,-71451.32
$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,66
$R_STBD_OVSHOOT,44
$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
$GPS1,194635,4807.723,-12223.166,8,3.5,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.0
$GPS2,195021,4807.750,-12223.170,12,1.1,12,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.260,0.015
$KALMAN_X,-21357.9,2.7,134.2,21691.3,7.8
$KALMAN_Y,-13665.4,272.5,-254.6,13813.2,182.1
$MHEAD_RNG_PITCHd_Wd,255.1,1126,-18.2,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-1.19,-146.6,0.0,0.0,0,127,0.00,0.00,-96.38,0.000,2,0.000,0.000,23,2258,2756
$GC,131,-1.19,-146.6,3.1,-6.6,18,160,9.65,2.28,-12.15,0.000,4,0.207,0.048,2431,853,3401
$GC,230,-1.19,-146.6,18.2,-10.4,35,236,0.00,2.28,0.00,0.000,6,0.000,0.032,2429,2248,3403
$GC,302,-1.19,-146.6,25.9,-10.5,43,306,0.00,2.33,0.00,0.000,4,0.000,0.048,2419,3660,3404
$GC,358,-1.19,-146.6,32.0,-10.5,47,365,0.00,2.20,0.00,0.000,6,0.000,0.026,2419,2235,3403
$GC,557,-1.19,-146.6,52.9,-10.5,66,561,0.00,2.33,0.00,0.000,4,0.000,0.046,2410,3651,3404
$GC,630,-1.19,-146.6,61.1,-11.2,72,636,0.00,2.17,0.00,0.000,6,0.000,0.025,2410,2240,3404
$STATE,909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,910,begin apogee
$GC,917,-0.28,0.0,91.0,10.4,99,1035,1.00,0.00,111.82,0.744,6,0.110,0.000,2726,2168,2799
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1039,1.19,146.6,95.7,0.0,111,1157,1.35,2.47,110.07,0.687,4,0.044,0.042,3209,3558,2201
$GC,1465,1.24,186.8,78.6,8.2,149,1501,0.00,2.25,31.10,0.752,6,0.000,0.028,3220,2157,2037
$GC,1822,1.24,186.8,42.8,10.0,182,1826,0.00,2.28,0.00,0.000,4,0.000,0.040,3231,745,2036
$GC,1861,1.24,186.8,38.7,10.1,185,1867,0.00,2.28,0.00,0.000,6,0.000,0.033,3231,2156,2036
$GC,2059,1.29,222.3,20.8,8.4,204,2093,0.00,2.33,27.70,0.744,4,0.000,0.045,3230,3556,1892
$GC,2146,1.29,222.3,11.8,12.0,218,2152,0.00,2.30,0.00,0.000,6,0.000,0.029,3241,2151,1891
$GC,2222,1.39,309.3,4.3,6.0,231,2278,0.00,0.00,53.70,0.670,2,0.000,0.000,3241,2151,1598
$STATE,2279,end climb,SURFACE_DEPTH_REACHED
$STATE,2279,begin surface coast
$FINISH,0.4,1.024400
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2318,begin surface
$SM_CCo,2340,184.48,0.621,0,0,204,636.80
$SM_CCo,2529,0.00,0.000,0,0,202,637.29
$SM_CCo,2533,0.00,0.000,0,0,201,637.53
$SM_GC,1.11,0.00,0.00,0.00,0.000,0.000,0.000,20,2261,201,-8.75,0.31,637.53
$IRIDIUM_FIX,4748.51,-12259.41,260907,232308
$TT8_MAMPS,0.026078
$HUMID,1833
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.1,43.6
$24V_AH,24.5,47.569
$10V_AH,10.7,24.594
$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,21.450,27.700,334.400,184.475,0.000,0.000,0.000,0.000,0.750,0.000,0.000,14.371,394.958,1006.147,536.054,565.829,107.634,33.357,884.480,0.000,573.301,0.000,2.515
$DEVICE_MAMPS,207.090,87.438,751.660,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,175.937,188.839,418.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12811,248
$CFSIZE,260165632,243048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,203437,4807.724,-12223.604,11,1.5,27,18.3