version: 66.03
glider: 128
mission: 2
dive: 556
start: 9 27 107 21 2 7
data:
$ID,128
$MISSION,2
$DIVE,556
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,53
$T_MISSION,65
$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,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,-72146.945
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2730
$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,2350
$C_ROLL_CLIMB,2200
$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,2400
$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,0.0001162386
$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
$GPS1,205303,4807.328,-12223.444,9,2.0,9,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-67.8
$GPS2,210110,4807.321,-12223.412,9,2.1,28,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.206
$KALMAN_X,-21981.7,42.3,-76.1,22189.2,-1.6
$KALMAN_Y,-13450.2,-188.6,-80.9,13095.9,-6.7
$MHEAD_RNG_PITCHd_Wd,312.1,1452,-14.1,-7.547
$D_GRID,102
$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,27,-0.96,-146.6,0.0,0.0,0,83,0.00,0.00,-53.47,0.000,2,0.000,0.000,22,2348,2314
$GC,87,-0.96,-146.6,3.1,-1.6,10,122,9.65,2.35,-18.42,0.000,4,0.206,0.058,2406,3752,3000
$GC,258,-0.96,-146.6,25.3,-11.7,36,262,0.00,2.22,0.00,0.000,6,0.000,0.027,2406,2323,3002
$GC,457,-0.96,-146.6,47.0,-10.7,54,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2321,3003
$GC,648,-0.96,-146.6,68.8,-11.2,72,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2321,3003
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,950,-0.28,0.0,102.6,11.6,100,1067,0.73,0.00,111.47,0.740,6,0.118,0.000,2630,2203,2399
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1071,0.96,146.6,107.9,0.0,112,1190,1.25,0.00,110.90,0.697,6,0.085,0.000,3033,2202,1800
$GC,1509,0.96,146.6,74.7,8.8,154,1513,0.00,2.33,0.00,0.000,4,0.000,0.043,3033,3603,1798
$GC,1556,0.96,146.6,70.1,10.2,158,1560,0.00,2.22,0.00,0.000,6,0.000,0.027,3042,2202,1798
$GC,1886,0.96,146.6,41.7,8.2,188,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,1798
$GC,2084,0.96,146.6,23.8,9.6,207,2088,0.00,2.30,0.00,0.000,4,0.000,0.042,3042,3604,1798
$GC,2142,0.99,163.8,19.5,7.0,212,2166,0.00,2.20,14.40,0.802,6,0.000,0.028,3051,2198,1731
$GC,2236,0.99,163.8,10.7,8.6,228,2242,0.00,2.25,0.00,0.000,4,0.000,0.037,3058,814,1730
$GC,2368,1.08,240.9,3.9,4.9,251,2418,0.00,2.22,41.50,0.697,6,0.000,0.030,3058,2210,1415
$STATE,2422,end climb,SURFACE_DEPTH_REACHED
$STATE,2423,begin surface coast
$FINISH,1.6,1.005816
$STATE,2475,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2500,52.70,0.668,0,0,972,350.04
$SM_GC,2.63,0.00,0.00,52.70,0.000,0.000,0.668,16,2360,972,-8.48,0.28,350.04
$IRIDIUM_FIX,4748.51,-12226.29,280907,000057
$TT8_MAMPS,0.026078
$HUMID,1918
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,77.2,53.3
$24V_AH,24.4,50.735
$10V_AH,10.7,25.727
$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,20.450,18.450,278.275,52.700,0.000,59.679,30.675,200.522,0.500,0.000,0.000,30.833,432.120,1264.757,353.529,551.480,455.692,33.345,655.173,0.000,549.432,0.000,2.526
$DEVICE_MAMPS,205.556,58.292,801.515,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,196.478,210.882,455.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12799,270
$CFSIZE,260165632,242262016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,214547,4807.563,-12223.768,8,2.7,27,18.3