version: 66.03
glider: 128
mission: 2
dive: 632
start: 9 30 107 16 8 46
data:
$ID,128
$MISSION,2
$DIVE,632
$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,67
$T_MISSION,80
$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,538.67877
$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,-73940.68
$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,62
$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
$GPS1,155021,4804.922,-12220.833,11,1.3,11,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-65.3
$GPS2,160745,4805.024,-12221.001,11,1.9,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,0.209
$KALMAN_X,-30616.4,-70.3,-169.8,34011.2,-268.8
$KALMAN_Y,-14570.5,-84.8,378.3,9397.0,-46.0
$MHEAD_RNG_PITCHd_Wd,326.2,6642,-11.0,-5.970
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.79,-146.6,0.0,0.0,0,89,0.00,0.00,-58.88,0.000,2,0.000,0.000,10,2328,2399
$GC,94,-0.79,-146.6,3.0,-1.3,11,130,9.98,2.42,-17.90,0.000,4,0.203,0.059,2470,3757,2998
$GC,436,-0.79,-146.6,37.6,-9.6,56,440,0.00,2.22,0.00,0.000,6,0.000,0.025,2470,2326,3001
$GC,635,-0.79,-146.6,55.4,-8.7,74,639,0.00,2.38,0.00,0.000,4,0.000,0.048,2461,3749,3002
$GC,691,-0.79,-146.6,61.0,-9.5,78,697,0.00,2.15,0.00,0.000,6,0.000,0.026,2461,2351,3002
$GC,1020,-0.79,-146.6,90.4,-8.6,109,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2351,3002
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1235,-0.28,0.0,108.8,8.7,129,1352,0.57,0.00,111.90,0.751,6,0.112,0.000,2642,2199,2400
$STATE,1353,end apogee,CONTROL_FINISHED_OK
$STATE,1353,begin climb
$GC,1357,0.79,146.6,112.7,0.0,141,1474,1.08,0.00,111.53,0.692,6,0.084,0.000,2988,2199,1802
$GC,1793,0.79,146.6,84.0,7.5,183,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2198,1800
$GC,2112,0.79,146.6,61.5,6.7,213,2116,0.00,2.33,0.00,0.000,4,0.000,0.045,2988,3600,1800
$GC,2219,0.79,146.6,52.8,8.3,222,2225,0.00,2.20,0.00,0.000,6,0.000,0.026,2997,2199,1800
$GC,2548,0.79,146.6,29.9,6.9,253,2552,0.00,2.22,0.00,0.000,4,0.000,0.036,3005,804,1800
$GC,2645,0.79,146.6,23.1,6.4,261,2649,0.00,2.22,0.00,0.000,6,0.000,0.031,3005,2208,1800
$GC,2857,0.82,174.8,10.9,5.2,293,2885,0.00,0.00,22.70,0.788,6,0.000,0.000,3005,2208,1686
$GC,2955,0.88,216.6,6.2,4.8,310,2995,0.00,2.38,31.70,0.693,4,0.000,0.046,3005,3598,1515
$GC,3015,0.89,225.4,3.1,5.7,320,3027,0.00,2.25,6.93,0.571,6,0.000,0.026,3011,2187,1480
$STATE,3037,end climb,SURFACE_DEPTH_REACHED
$STATE,3037,begin surface coast
$FINISH,1.5,1.018475
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3101,160.18,0.641,0,0,203,538.68
$SM_GC,2.24,0.00,0.00,160.18,0.000,0.000,0.641,17,2364,203,-8.51,0.40,538.68
$IRIDIUM_FIX,4748.51,-12221.84,300907,202014
$TT8_MAMPS,0.026845
$HUMID,1848
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,46.0
$24V_AH,24.4,56.550
$10V_AH,10.7,28.656
$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,20.250,23.225,284.750,160.175,0.000,131.596,72.729,452.608,0.750,0.000,0.000,12.477,532.126,1761.060,477.481,679.117,876.200,33.339,832.235,0.000,695.914,0.000,8.459
$DEVICE_MAMPS,203.255,59.059,787.709,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.164,260.321,558.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15892,331
$CFSIZE,260165632,240291840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,170431,4805.331,-12221.227,36,1.5,43,18.3