version: 66.03
glider: 128
mission: 2
dive: 569
start: 9 28 107 8 9 19
data:
$ID,128
$MISSION,2
$DIVE,569
$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,-72482.078
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,47
$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
$GPS1,080337,4805.262,-12221.375,32,1.0,32,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.7
$GPS2,080821,4805.085,-12221.067,10,1.1,10,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.216
$KALMAN_X,-23219.9,-106.1,88.8,26309.5,-106.3
$KALMAN_Y,-14374.9,44.0,-176.1,9739.2,-47.7
$MHEAD_RNG_PITCHd_Wd,317.6,6503,-14.1,-7.547
$D_GRID,108
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.96,-146.6,0.0,0.0,0,84,0.00,0.00,-53.70,0.000,2,0.000,0.000,15,2363,2308
$GC,88,-0.96,-146.6,3.0,-2.0,10,124,9.68,2.35,-20.75,0.000,4,0.203,0.044,2421,952,2999
$GC,137,-0.96,-146.6,7.7,-9.1,18,143,0.00,2.25,0.00,0.000,6,0.000,0.030,2414,2343,3001
$GC,213,-0.96,-146.6,12.9,-7.9,31,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2343,3002
$GC,293,-0.96,-146.6,21.6,-11.2,44,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2343,3002
$GC,484,-0.96,-146.6,43.2,-11.3,62,488,0.00,2.22,0.00,0.000,4,0.000,0.031,2414,943,3003
$GC,535,-0.96,-146.6,49.0,-10.8,66,542,0.00,2.25,0.00,0.000,6,0.000,0.032,2414,2348,3003
$GC,734,-0.96,-146.6,70.2,-10.5,85,738,0.00,2.30,0.00,0.000,4,0.000,0.046,2404,3750,3003
$GC,774,-0.96,-146.6,74.7,-11.6,88,778,0.00,2.17,0.00,0.000,6,0.000,0.025,2404,2319,3003
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1093,-0.28,0.0,108.5,11.2,117,1210,0.77,0.00,111.62,0.747,6,0.118,0.000,2643,2217,2400
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1215,0.96,146.6,113.6,0.0,129,1332,1.23,0.00,111.47,0.705,6,0.082,0.000,3042,2217,1802
$GC,1651,0.96,146.6,78.6,9.7,171,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2217,1799
$GC,1969,0.96,146.6,50.5,8.4,201,1973,0.00,2.28,0.00,0.000,4,0.000,0.043,3042,3605,1799
$GC,2039,0.96,146.6,44.1,9.3,207,2043,0.00,2.20,0.00,0.000,6,0.000,0.026,3052,2204,1799
$GC,2237,0.96,146.6,27.9,8.0,225,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2202,1799
$GC,2434,0.98,156.8,12.3,7.2,252,2447,0.00,0.00,9.45,0.779,6,0.000,0.000,3052,2202,1760
$GC,2516,1.01,186.8,5.9,6.5,266,2545,0.00,2.25,23.12,0.715,4,0.000,0.035,3059,813,1637
$STATE,2589,end climb,SURFACE_DEPTH_REACHED
$STATE,2589,begin surface coast
$FINISH,1.5,1.012398
$STATE,2637,end surface coast,CONTROL_FINISHED_OK
$STATE,2638,begin surface
$SM_CCo,2662,88.22,0.667,0,0,972,350.04
$SM_GC,2.50,0.00,0.00,88.22,0.000,0.000,0.667,20,2362,972,-8.50,0.34,350.04
$IRIDIUM_FIX,4745.30,-12218.40,280907,111118
$TT8_MAMPS,0.026078
$HUMID,1906
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,47.7
$24V_AH,24.4,51.731
$10V_AH,10.7,26.218
$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,20.450,22.925,255.675,88.225,0.000,24.444,20.298,127.213,0.500,0.000,0.000,11.652,473.783,1294.061,379.252,567.088,338.861,33.347,686.737,0.000,581.565,0.000,5.483
$DEVICE_MAMPS,203.255,58.292,779.272,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,204.000,223.483,484.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12798,287
$CFSIZE,260165632,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,085557,4805.346,-12221.313,8,1.6,8,18.3