version: 66.03
glider: 128
mission: 2
dive: 557
start: 9 27 107 21 51 21
data:
$ID,128
$MISSION,2
$DIVE,557
$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,-72164.484
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2735
$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,40
$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
$GPS1,214547,4807.563,-12223.768,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.4
$GPS2,215020,4807.553,-12223.766,15,1.9,15,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.060,0.229
$KALMAN_X,-22109.6,52.4,-70.8,21866.9,-36.0
$KALMAN_Y,-13648.8,-187.2,-3.6,13645.7,-58.1
$MHEAD_RNG_PITCHd_Wd,327.0,877,-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,-53.88,0.000,2,0.000,0.000,16,2360,2325
$GC,87,-0.96,-146.6,3.1,-1.8,10,122,9.68,2.33,-18.45,0.000,4,0.205,0.058,2409,3752,2999
$GC,175,-0.96,-146.6,15.1,-13.4,25,181,0.00,2.22,0.00,0.000,6,0.000,0.026,2409,2337,3001
$GC,255,-0.96,-146.6,24.4,-12.0,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2337,3002
$GC,446,-0.96,-146.6,46.4,-11.4,54,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2337,3003
$GC,637,-0.96,-146.6,68.3,-11.5,72,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2337,3003
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,949,-0.28,0.0,103.1,11.1,101,1066,0.73,0.00,111.22,0.742,6,0.117,0.000,2634,2201,2400
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1071,0.96,146.6,108.4,0.0,113,1190,1.25,2.47,110.75,0.696,4,0.084,0.042,3040,3601,1801
$GC,1235,0.96,146.6,98.4,10.1,128,1242,0.00,2.28,0.00,0.000,6,0.000,0.027,3048,2202,1800
$GC,1566,0.96,146.6,69.5,8.6,159,1570,0.00,2.25,0.00,0.000,4,0.000,0.037,3057,809,1799
$GC,1633,0.96,146.6,63.0,8.7,164,1639,0.00,2.22,0.00,0.000,6,0.000,0.031,3057,2201,1799
$GC,1961,0.96,146.6,34.1,8.5,195,1965,0.00,2.28,0.00,0.000,4,0.000,0.044,3057,3599,1799
$GC,2057,0.96,146.6,24.9,9.4,203,2063,0.00,2.20,0.00,0.000,6,0.000,0.027,3066,2197,1799
$GC,2266,0.99,167.3,8.8,6.8,234,2290,0.00,2.25,16.85,0.785,4,0.000,0.036,3074,799,1717
$GC,2388,1.08,244.0,2.3,4.9,255,2396,0.00,2.25,3.05,0.426,2,0.000,0.031,3074,2206,1701
$STATE,2396,end climb,SURFACE_DEPTH_REACHED
$STATE,2396,begin surface coast
$FINISH,1.4,1.012125
$STATE,2441,end surface coast,CONTROL_FINISHED_OK
$STATE,2441,begin surface
$SM_CCo,2462,90.82,0.667,0,0,972,350.04
$SM_GC,2.56,0.00,0.00,90.82,0.000,0.000,0.667,16,2356,972,-8.50,0.17,350.04
$IRIDIUM_FIX,4751.72,-12223.57,280907,000055
$TT8_MAMPS,0.026078
$HUMID,1913
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.0,33.2
$24V_AH,24.4,50.810
$10V_AH,10.7,25.763
$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,20.375,23.125,241.875,90.825,0.000,28.695,28.564,101.698,1.250,0.000,0.000,16.912,443.891,1165.559,358.318,556.445,323.487,33.347,661.241,0.000,559.724,0.000,14.286
$DEVICE_MAMPS,204.789,57.525,784.641,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,188.884,202.541,445.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12811,264
$CFSIZE,260165632,242241536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,223507,4807.847,-12224.040,33,1.2,33,18.3