version: 66.03
glider: 128
mission: 2
dive: 570
start: 9 28 107 9 1 21
data:
$ID,128
$MISSION,2
$DIVE,570
$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,-72499.258
$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,57
$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
$GPS1,085557,4805.346,-12221.313,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-67.3
$GPS2,090020,4805.319,-12221.257,10,1.4,15,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.212
$KALMAN_X,-23098.3,-124.1,21.8,26036.7,-63.7
$KALMAN_Y,-14604.5,74.9,-156.2,10353.8,-72.4
$MHEAD_RNG_PITCHd_Wd,315.2,6013,-14.1,-7.547
$D_GRID,110
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-58.72,0.000,2,0.000,0.000,20,2363,2440
$GC,93,-0.96,-146.6,3.3,-2.3,11,123,9.68,2.35,-14.75,0.000,4,0.203,0.045,2426,955,3000
$GC,215,-0.96,-146.6,17.7,-11.5,32,221,0.00,2.25,0.00,0.000,6,0.000,0.032,2419,2349,3002
$GC,295,-0.96,-146.6,26.5,-11.0,41,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2349,3003
$GC,493,-0.96,-146.6,48.0,-10.3,60,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2349,3003
$GC,684,-0.96,-146.6,67.8,-10.2,78,688,0.00,2.30,0.00,0.000,4,0.000,0.047,2408,3749,3004
$GC,726,-0.96,-146.6,72.3,-11.2,81,730,0.00,2.20,0.00,0.000,6,0.000,0.025,2408,2315,3004
$GC,1052,-0.96,-146.6,107.8,-11.1,111,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2314,3004
$STATE,1069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1078,-0.28,0.0,110.1,11.3,113,1195,0.75,0.00,111.70,0.746,6,0.117,0.000,2641,2216,2400
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1200,0.96,146.6,115.5,0.0,125,1317,1.25,0.00,111.62,0.702,6,0.082,0.000,3046,2216,1801
$GC,1636,0.96,146.6,81.8,9.1,167,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2216,1799
$GC,1955,0.96,146.6,52.8,8.8,197,1959,0.00,2.28,0.00,0.000,4,0.000,0.043,3047,3603,1799
$GC,2013,0.96,146.6,47.3,9.2,202,2017,0.00,2.20,0.00,0.000,6,0.000,0.027,3054,2209,1799
$GC,2211,0.96,146.6,29.9,8.3,220,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2207,1799
$GC,2408,0.96,146.6,13.9,7.9,244,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2207,1798
$GC,2483,0.97,153.4,8.0,7.3,257,2496,0.00,2.25,6.55,0.704,4,0.000,0.037,3058,797,1773
$STATE,2584,end climb,SURFACE_DEPTH_REACHED
$STATE,2584,begin surface coast
$FINISH,1.5,1.012294
$STATE,2637,end surface coast,CONTROL_FINISHED_OK
$STATE,2637,begin surface
$SM_CCo,2661,109.15,0.671,0,0,972,350.04
$SM_GC,2.39,0.00,0.00,109.15,0.000,0.000,0.671,12,2364,972,-8.53,0.40,350.04
$IRIDIUM_FIX,4745.30,-12211.24,280907,121234
$TT8_MAMPS,0.026845
$HUMID,1893
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,81.1,43.5
$24V_AH,24.4,51.806
$10V_AH,10.7,26.256
$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,20.325,18.475,229.875,109.150,0.000,29.022,13.455,104.937,0.750,0.000,0.000,16.556,472.157,1328.451,384.292,554.398,314.589,33.346,673.427,0.000,567.275,0.000,8.315
$DEVICE_MAMPS,203.255,57.525,745.524,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,205.014,221.274,479.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12816,284
$CFSIZE,260165632,241913856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,094837,4805.607,-12221.556,10,1.7,26,18.3