version: 66.03
glider: 128
mission: 2
dive: 572
start: 9 28 107 10 47 28
data:
$ID,128
$MISSION,2
$DIVE,572
$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,-72550.875
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,104205,4805.810,-12221.879,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-67.5
$GPS2,104627,4805.768,-12221.854,14,1.0,14,18.3
$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,-23152.3,-77.0,-53.9,25383.7,3.6
$KALMAN_Y,-15079.2,83.9,-69.7,11563.9,-141.3
$MHEAD_RNG_PITCHd_Wd,315.2,4912,-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,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,-53.47,0.000,2,0.000,0.000,12,2358,2310
$GC,87,-0.96,-146.6,3.0,-1.9,10,122,9.70,2.33,-19.33,0.000,4,0.203,0.058,2416,3752,2999
$GC,141,-0.96,-146.6,9.0,-9.5,19,148,0.00,2.22,0.00,0.000,6,0.000,0.025,2416,2321,3000
$GC,218,-0.96,-146.6,16.7,-10.7,32,224,0.00,2.15,0.00,0.000,4,0.000,0.032,2416,981,3001
$GC,314,-0.96,-146.6,28.2,-12.0,43,320,0.00,2.20,0.00,0.000,6,0.000,0.032,2412,2346,3002
$GC,512,-0.96,-146.6,50.8,-11.6,62,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2346,3003
$GC,831,-0.96,-146.6,86.2,-10.8,92,835,0.00,2.30,0.00,0.000,4,0.000,0.046,2403,3752,3002
$GC,887,-0.96,-146.6,92.9,-11.8,96,894,0.00,2.15,0.00,0.000,6,0.000,0.026,2402,2347,3002
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1038,-0.28,0.0,109.0,11.3,110,1155,0.77,0.00,111.55,0.744,6,0.117,0.000,2642,2195,2400
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1159,0.96,146.6,113.7,0.0,122,1277,1.25,0.00,111.62,0.700,6,0.081,0.000,3047,2194,1801
$GC,1596,0.96,146.6,77.6,9.1,164,1600,0.00,2.35,0.00,0.000,4,0.000,0.043,3047,3603,1799
$GC,1668,0.96,146.6,70.0,10.8,170,1675,0.00,2.20,0.00,0.000,6,0.000,0.027,3055,2208,1799
$GC,1999,0.96,146.6,38.4,9.2,201,2003,0.00,2.30,0.00,0.000,4,0.000,0.043,3054,3603,1799
$GC,2066,0.96,146.6,31.1,9.7,206,2072,0.00,2.22,0.00,0.000,6,0.000,0.027,3065,2188,1799
$GC,2268,0.96,146.6,13.6,8.8,231,2275,0.00,2.22,0.00,0.000,4,0.000,0.037,3073,814,1799
$GC,2339,0.96,146.6,7.7,8.7,243,2345,0.00,2.22,0.00,0.000,6,0.000,0.031,3073,2211,1799
$GC,2415,1.07,229.0,2.6,4.7,256,2439,0.00,0.00,21.70,0.744,2,0.000,0.000,3073,2211,1612
$STATE,2439,end climb,SURFACE_DEPTH_REACHED
$STATE,2439,begin surface coast
$FINISH,1.6,1.024168
$STATE,2518,end surface coast,CONTROL_FINISHED_OK
$STATE,2518,begin surface
$SM_CCo,2539,79.22,0.670,0,0,973,350.04
$SM_GC,2.26,0.00,0.00,79.22,0.000,0.000,0.670,12,2349,973,-8.53,-0.03,350.04
$IRIDIUM_FIX,4745.30,-12220.12,280907,131337
$TT8_MAMPS,0.026845
$HUMID,1909
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,46.2
$24V_AH,24.4,51.954
$10V_AH,10.7,26.332
$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,20.350,27.250,244.875,79.225,0.000,30.699,16.251,101.243,0.750,0.000,0.000,15.504,454.608,1208.251,372.274,551.165,315.895,33.353,673.710,0.000,565.071,0.000,8.348
$DEVICE_MAMPS,203.255,57.525,743.990,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.525,217.771,462.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12826,274
$CFSIZE,260165632,241860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,113157,4806.006,-12222.192,10,1.5,10,18.3