version: 66.03
glider: 128
mission: 2
dive: 606
start: 9 29 107 15 8 52
data:
$ID,128
$MISSION,2
$DIVE,606
$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,-73323.266
$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
$GPS1,150332,4807.479,-12223.330,10,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.6
$GPS2,150751,4807.505,-12223.333,12,1.4,12,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,0.159
$KALMAN_X,-23716.8,-19.3,-204.7,24209.3,238.0
$KALMAN_Y,-19628.9,-142.2,140.9,19345.4,-166.0
$MHEAD_RNG_PITCHd_Wd,294.0,1233,-14.1,-7.547
$D_GRID,105
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-48.30,0.000,2,0.000,0.000,16,2352,2180
$GC,83,-0.96,-146.6,3.0,-1.4,9,129,9.68,2.38,-30.02,0.000,4,0.202,0.062,2413,3756,2998
$GC,154,-0.96,-146.6,7.5,-10.1,21,160,0.00,2.28,0.00,0.000,6,0.000,0.026,2412,2316,3000
$GC,230,-0.96,-146.6,16.6,-11.8,34,236,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,3762,3001
$GC,541,-0.96,-146.6,53.9,-11.8,64,547,0.00,2.20,0.00,0.000,6,0.000,0.026,2401,2349,3001
$GC,867,-0.96,-146.6,92.1,-12.1,95,871,0.00,2.38,0.00,0.000,4,0.000,0.052,2392,3756,3001
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,983,-0.28,0.0,105.3,11.6,104,1100,0.82,0.00,111.80,0.745,6,0.122,0.000,2644,2197,2400
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1105,0.96,146.6,110.7,0.0,116,1224,1.25,2.40,111.30,0.700,4,0.083,0.041,3054,809,1801
$GC,1288,0.96,146.6,99.2,9.5,133,1293,0.00,2.35,0.00,0.000,6,0.000,0.035,3055,2211,1800
$GC,1617,0.96,146.6,68.6,9.2,163,1621,0.00,2.35,0.00,0.000,4,0.000,0.049,3055,3616,1799
$GC,1686,0.96,146.6,61.2,10.8,168,1693,0.00,2.25,0.00,0.000,6,0.000,0.028,3066,2212,1799
$GC,2015,0.96,146.6,29.8,9.3,199,2019,0.00,2.35,0.00,0.000,4,0.000,0.050,3066,3604,1799
$GC,2038,0.96,146.6,27.0,10.0,200,2044,0.00,2.25,0.00,0.000,6,0.000,0.030,3074,2196,1799
$GC,2244,0.96,146.6,8.3,8.5,230,2250,0.00,2.28,0.00,0.000,4,0.000,0.042,3084,794,1799
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,1.6,1.013382
$STATE,2387,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2411,107.65,0.677,0,0,972,350.29
$SM_GC,2.45,0.00,0.00,107.65,0.000,0.000,0.677,22,2359,972,-8.50,0.25,350.29
$IRIDIUM_FIX,4751.72,-12223.57,290907,181806
$TT8_MAMPS,0.026845
$HUMID,1894
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,82.1,42.9
$24V_AH,24.4,54.533
$10V_AH,10.7,27.573
$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,20.450,33.000,223.100,107.650,0.000,28.550,18.027,95.544,0.750,0.000,0.000,14.180,437.382,1093.904,372.534,581.572,314.362,33.343,687.480,0.000,587.999,0.000,7.070
$DEVICE_MAMPS,202.488,62.127,744.757,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,181.535,197.718,430.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12780,255
$CFSIZE,260165632,241025024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,155144,4807.656,-12223.456,7,1.1,12,18.3