version: 66.03
glider: 128
mission: 2
dive: 604
start: 9 29 107 13 32 20
data:
$ID,128
$MISSION,2
$DIVE,604
$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,-73293.914
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,132638,4807.040,-12223.186,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.9
$GPS2,133120,4807.081,-12223.191,29,1.5,29,18.3
$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,-24237.3,47.9,-162.7,24796.5,-63.7
$KALMAN_Y,-19424.4,43.4,97.1,18211.2,-142.7
$MHEAD_RNG_PITCHd_Wd,322.8,1975,-14.1,-7.547
$D_GRID,102
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-64.10,0.000,2,0.000,0.000,14,2350,2549
$GC,99,-0.96,-146.6,3.2,-1.5,12,128,9.68,2.42,-11.93,0.000,4,0.202,0.064,2417,3755,3000
$GC,433,-0.96,-146.6,45.2,-11.2,52,439,0.00,2.22,0.00,0.000,6,0.000,0.025,2417,2329,3003
$GC,632,-0.96,-146.6,67.1,-11.2,71,636,0.00,2.40,0.00,0.000,4,0.000,0.050,2407,3766,3003
$GC,846,-0.96,-146.6,92.7,-11.9,90,850,0.00,2.20,0.00,0.000,6,0.000,0.026,2408,2355,3003
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.28,0.0,103.1,10.9,98,1061,0.75,0.00,112.15,0.746,6,0.119,0.000,2639,2191,2399
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1065,0.96,146.6,108.1,0.0,110,1181,1.25,0.00,111.47,0.700,6,0.083,0.000,3044,2189,1802
$GC,1498,0.96,146.6,74.5,9.0,151,1502,0.00,2.40,0.00,0.000,4,0.000,0.048,3044,3615,1799
$GC,1561,0.96,146.6,68.5,9.9,156,1567,0.00,2.25,0.00,0.000,6,0.000,0.028,3053,2213,1798
$GC,1889,0.96,146.6,39.0,8.9,187,1894,0.00,2.35,0.00,0.000,4,0.000,0.050,3053,3613,1798
$GC,1946,0.96,146.6,33.0,10.1,191,1952,0.00,2.25,0.00,0.000,6,0.000,0.029,3062,2200,1798
$GC,2148,0.96,146.6,15.1,7.8,215,2154,0.00,2.28,0.00,0.000,4,0.000,0.043,3072,798,1798
$GC,2196,0.96,146.6,11.3,8.2,223,2202,0.00,2.30,0.00,0.000,6,0.000,0.037,3072,2212,1798
$GC,2272,1.02,189.3,6.3,6.1,236,2311,0.00,2.38,32.17,0.734,4,0.000,0.044,3081,796,1627
$GC,2353,1.08,238.4,2.0,5.8,250,2361,0.00,2.33,2.97,0.380,2,0.000,0.038,3081,2198,1604
$STATE,2362,end climb,SURFACE_DEPTH_REACHED
$STATE,2362,begin surface coast
$FINISH,1.6,1.025881
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2417,75.38,0.670,0,0,972,350.04
$SM_GC,2.42,0.00,0.00,75.38,0.000,0.000,0.670,16,2354,972,-8.51,0.11,350.04
$IRIDIUM_FIX,4748.51,-12221.84,290907,161635
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,77.2,52.8
$24V_AH,24.4,54.385
$10V_AH,10.7,27.500
$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,20.475,28.225,258.775,75.375,0.000,24.330,16.874,107.714,0.500,0.000,0.000,31.053,432.542,1090.409,366.550,588.021,318.597,33.354,684.324,0.000,582.059,0.000,2.523
$DEVICE_MAMPS,202.488,63.661,746.291,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.396,199.193,433.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12871,257
$CFSIZE,260165632,241074176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,141507,4807.302,-12223.255,33,1.3,33,18.3