version: 66.03
glider: 128
mission: 2
dive: 576
start: 9 28 107 14 15 37
data:
$ID,128
$MISSION,2
$DIVE,576
$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,-72639.156
$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,64
$R_STBD_OVSHOOT,41
$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
$GPS1,140953,4806.457,-12222.738,11,3.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-66.6
$GPS2,141437,4806.411,-12222.683,35,1.5,41,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.077,0.224
$KALMAN_X,-23293.2,29.5,-71.2,24410.4,28.8
$KALMAN_Y,-16305.3,-60.5,33.6,14021.8,-282.2
$MHEAD_RNG_PITCHd_Wd,322.7,3364,-14.1,-7.547
$D_GRID,103
$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,-53.53,0.000,2,0.000,0.000,17,2333,2308
$GC,87,-0.96,-146.6,3.1,-1.9,10,123,9.62,2.28,-20.33,0.000,4,0.202,0.046,2425,964,3000
$GC,142,-0.96,-146.6,8.0,-7.3,19,148,0.00,2.25,0.00,0.000,6,0.000,0.031,2417,2349,3001
$GC,218,-0.96,-146.6,16.1,-11.1,32,224,0.00,2.35,0.00,0.000,4,0.000,0.047,2406,3762,3002
$GC,281,-0.96,-146.6,24.1,-12.5,40,287,0.00,2.20,0.00,0.000,6,0.000,0.025,2406,2331,3002
$GC,479,-0.96,-146.6,46.8,-11.6,59,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2331,3003
$GC,671,-0.96,-146.6,69.2,-11.6,77,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2331,3003
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,983,-0.28,0.0,103.9,10.6,106,1101,0.75,0.00,111.50,0.740,6,0.116,0.000,2639,2209,2399
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1105,0.96,146.6,108.8,0.0,118,1225,1.25,2.40,111.20,0.702,4,0.082,0.042,3043,3602,1801
$GC,1275,0.96,146.6,98.6,10.4,134,1279,0.00,2.28,0.00,0.000,6,0.000,0.027,3053,2205,1800
$GC,1605,0.96,146.6,67.2,9.6,164,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2203,1799
$GC,1931,0.96,146.6,37.2,9.1,195,1935,0.00,2.30,0.00,0.000,4,0.000,0.042,3053,3605,1799
$GC,1982,0.96,146.6,31.9,9.8,199,1987,0.00,2.22,0.00,0.000,6,0.000,0.027,3063,2188,1799
$GC,2185,0.96,146.6,13.8,8.9,223,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2187,1799
$GC,2260,0.96,146.6,7.7,7.8,236,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2187,1799
$GC,2335,0.98,156.4,2.1,7.2,249,2342,0.00,0.00,5.30,0.642,6,0.000,0.000,3062,2185,1761
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,1.5,1.024830
$STATE,2381,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2403,97.68,0.675,0,0,972,350.04
$SM_GC,2.36,0.00,0.00,97.68,0.000,0.000,0.675,20,2369,972,-8.50,0.54,350.04
$IRIDIUM_FIX,4748.51,-12221.84,280907,171711
$TT8_MAMPS,0.026078
$HUMID,1905
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.0,44.6
$24V_AH,24.4,52.258
$10V_AH,10.7,26.482
$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,20.275,18.675,228.000,97.675,0.000,28.777,15.859,97.056,0.250,0.000,0.000,43.330,429.197,1161.161,368.220,545.068,301.954,33.349,653.024,0.000,527.513,0.000,5.435
$DEVICE_MAMPS,201.721,51.389,740.155,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.910,199.430,433.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12814,257
$CFSIZE,260165632,241766400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,145809,4806.588,-12222.892,11,1.9,11,18.3