version: 66.03
glider: 128
mission: 2
dive: 683
start: 10 2 107 21 55 34
data:
$ID,128
$MISSION,2
$DIVE,683
$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,8
$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,-75217.18
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,213407,4805.243,-12221.349,27,1.3,27,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-66.6
$GPS2,215435,4805.338,-12221.521,14,3.1,33,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.197
$KALMAN_X,-38605.4,-522.8,-54.4,41692.9,-153.4
$KALMAN_Y,-11511.8,490.0,-40.8,6769.1,64.5
$MHEAD_RNG_PITCHd_Wd,316.7,5804,-11.0,-5.970
$D_GRID,110
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,107,0.00,0.00,-75.07,0.000,2,0.000,0.000,9,2361,2605
$GC,112,-0.79,-146.6,3.4,-1.7,14,137,10.00,2.40,-9.27,0.000,4,0.206,0.062,2469,3748,3000
$GC,364,-0.79,-146.6,34.1,-10.0,46,368,0.00,2.22,0.00,0.000,6,0.000,0.026,2468,2317,3003
$GC,563,-0.79,-146.6,52.5,-8.9,64,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2316,3003
$GC,880,-0.79,-146.6,82.1,-9.0,94,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2316,3004
$GC,1199,-0.79,-146.6,108.5,-8.2,124,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2316,3004
$STATE,1216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1216,begin apogee
$GC,1225,-0.28,0.0,110.3,8.3,126,1343,0.55,0.00,112.45,0.737,6,0.109,0.000,2643,2201,2399
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1348,0.79,146.6,114.8,0.0,138,1463,1.05,0.00,111.12,0.686,6,0.081,0.000,2985,2201,1802
$GC,1782,0.79,146.6,88.4,6.9,179,1786,0.00,2.35,0.00,0.000,4,0.000,0.045,2985,3603,1799
$GC,1829,0.79,146.6,84.8,7.6,183,1833,0.00,2.22,0.00,0.000,6,0.000,0.026,2993,2201,1799
$GC,2160,0.79,146.6,61.0,6.9,213,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2198,1799
$GC,2487,0.79,146.6,38.8,6.5,244,2491,0.00,2.33,0.00,0.000,4,0.000,0.045,2993,3606,1800
$GC,2539,0.79,146.6,35.2,7.1,248,2543,0.00,2.20,0.00,0.000,6,0.000,0.026,2999,2200,1800
$GC,2739,0.82,173.4,23.1,5.2,266,2765,0.00,2.25,21.77,0.768,4,0.000,0.035,3002,801,1691
$GC,2977,0.88,223.3,11.6,4.6,302,3022,0.00,2.28,38.03,0.697,6,0.000,0.031,3002,2202,1488
$GC,3093,0.92,254.5,5.4,5.1,322,3123,0.10,2.42,24.20,0.673,4,0.070,0.045,3056,3604,1361
$STATE,3144,end climb,SURFACE_DEPTH_REACHED
$STATE,3144,begin surface coast
$FINISH,1.6,1.001696
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3198,150.93,0.630,0,0,203,538.68
$SM_GC,2.34,0.00,0.00,150.93,0.000,0.000,0.630,16,2331,203,-8.51,-0.57,538.68
$IRIDIUM_FIX,4748.51,-12217.40,031007,010105
$TT8_MAMPS,0.026078
$HUMID,1840
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.6,41.2
$24V_AH,24.3,61.136
$10V_AH,10.7,30.940
$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,20.500,22.850,307.575,150.925,0.000,135.633,127.801,545.134,0.750,0.000,0.000,35.541,535.522,1843.250,467.445,709.827,1038.073,33.334,835.417,0.000,701.301,0.000,6.925
$DEVICE_MAMPS,205.556,62.127,767.767,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.778,264.374,567.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,336
$CFSIZE,260165632,238841856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,225215,4805.654,-12221.881,9,1.5,10,18.3