version: 66.03
glider: 128
mission: 2
dive: 574
start: 9 28 107 12 32 13
data:
$ID,128
$MISSION,2
$DIVE,574
$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,-72581.297
$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,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
$GPS1,122359,4806.203,-12222.415,7,2.1,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-67.5
$GPS2,123115,4806.127,-12222.343,10,1.8,10,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.223
$KALMAN_X,-23261.8,-13.9,-79.6,24850.5,-8.7
$KALMAN_Y,-15682.3,38.9,15.8,12792.0,-232.4
$MHEAD_RNG_PITCHd_Wd,321.9,4029,-14.1,-7.547
$D_GRID,107
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.96,-146.6,0.0,0.0,0,81,0.00,0.00,-48.40,0.000,2,0.000,0.000,15,2366,2200
$GC,85,-0.96,-146.6,3.1,-2.1,9,120,9.68,0.00,-22.90,0.000,6,0.202,0.000,2426,2366,3000
$GC,190,-0.96,-146.6,13.5,-9.4,27,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2366,3003
$GC,265,-0.96,-146.6,21.2,-10.2,39,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2366,3003
$GC,456,-0.96,-146.6,41.8,-10.6,57,460,0.00,2.28,0.00,0.000,4,0.000,0.033,2426,949,3004
$GC,512,-0.96,-146.6,48.1,-11.1,61,519,0.00,2.25,0.00,0.000,6,0.000,0.031,2420,2353,3004
$GC,711,-0.96,-146.6,70.0,-10.8,80,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2353,3004
$GC,1032,-0.96,-146.6,104.8,-10.4,110,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2353,3004
$STATE,1057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1066,-0.28,0.0,108.1,10.3,113,1183,0.70,0.00,111.80,0.747,6,0.111,0.000,2640,2178,2400
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1187,0.96,146.6,112.7,0.0,125,1304,1.23,0.00,111.57,0.702,6,0.080,0.000,3040,2178,1802
$GC,1623,0.96,146.6,79.0,8.5,167,1627,0.00,2.38,0.00,0.000,4,0.000,0.042,3041,3614,1799
$GC,1685,0.96,146.6,72.9,9.3,172,1692,0.00,2.22,0.00,0.000,6,0.000,0.027,3049,2206,1799
$GC,2014,0.96,146.6,44.0,8.9,203,2018,0.00,2.25,0.00,0.000,4,0.000,0.036,3058,803,1799
$GC,2058,0.96,146.6,39.8,8.9,206,2065,0.00,2.22,0.00,0.000,6,0.000,0.031,3058,2202,1799
$GC,2257,0.96,146.6,22.7,8.4,225,2261,0.00,2.30,0.00,0.000,4,0.000,0.044,3058,3613,1799
$GC,2279,0.96,146.6,20.6,9.1,226,2286,0.00,2.22,0.00,0.000,6,0.000,0.027,3067,2189,1799
$GC,2489,1.04,211.2,3.6,5.3,262,2529,0.00,2.38,33.28,0.729,4,0.000,0.054,3067,3606,1537
$STATE,2533,end climb,SURFACE_DEPTH_REACHED
$STATE,2533,begin surface coast
$FINISH,1.6,1.012415
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2579,begin surface
$SM_CCo,2603,67.50,0.669,0,0,972,350.04
$SM_GC,2.32,0.00,0.00,67.50,0.000,0.000,0.669,7,2332,972,-8.54,-0.51,350.04
$IRIDIUM_FIX,4748.51,-12214.67,280907,161659
$TT8_MAMPS,0.026845
$HUMID,1902
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,83.1,41.4
$24V_AH,24.4,52.104
$10V_AH,10.7,26.409
$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,20.325,22.750,256.650,67.500,0.000,54.485,44.902,148.680,0.750,0.000,0.000,11.642,456.850,1314.936,364.158,551.331,437.655,33.348,666.534,0.000,567.180,0.000,4.395
$DEVICE_MAMPS,201.721,54.457,747.058,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,199.613,216.811,469.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12803,278
$CFSIZE,260165632,241811456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,131801,4806.336,-12222.608,26,1.7,37,18.3