version: 66.03
glider: 128
mission: 2
dive: 686
start: 10 3 107 1 16 13
data:
$ID,128
$MISSION,2
$DIVE,686
$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,-75285.844
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,005233,4806.272,-12222.452,12,1.7,12,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-66.8
$GPS2,011517,4806.076,-12222.203,11,2.4,30,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.194
$KALMAN_X,-39003.9,-284.4,142.8,40809.8,86.0
$KALMAN_Y,-12005.3,275.1,-134.0,8938.0,-274.1
$MHEAD_RNG_PITCHd_Wd,315.1,4200,-11.0,-5.970
$D_GRID,107
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-58.90,0.000,2,0.000,0.000,16,2362,2228
$GC,95,-0.79,-146.6,3.0,-1.3,11,136,9.95,2.35,-23.77,0.000,4,0.204,0.061,2470,3751,2998
$GC,156,-0.79,-146.6,8.2,-8.1,21,162,0.00,2.22,0.00,0.000,6,0.000,0.025,2471,2327,3000
$GC,232,-0.79,-146.6,16.4,-10.9,34,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2327,3000
$GC,311,-0.79,-146.6,24.3,-9.4,44,315,0.00,2.17,0.00,0.000,4,0.000,0.031,2470,960,3001
$GC,341,-0.79,-146.6,27.0,-9.3,46,345,0.00,2.25,0.00,0.000,6,0.000,0.033,2468,2349,3001
$GC,540,-0.79,-146.6,44.8,-8.5,64,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2349,3002
$GC,730,-0.79,-146.6,62.8,-9.5,82,734,0.00,2.33,0.00,0.000,4,0.000,0.049,2459,3752,3002
$GC,770,-0.79,-146.6,66.7,-9.2,85,776,0.00,2.15,0.00,0.000,6,0.000,0.026,2459,2350,3002
$GC,1100,-0.79,-146.6,96.0,-8.6,116,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2350,3002
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1230,-0.28,0.0,107.6,8.7,128,1347,0.57,0.00,112.00,0.743,6,0.110,0.000,2640,2197,2399
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1352,0.79,146.6,112.1,0.0,140,1469,1.08,0.00,111.62,0.691,6,0.082,0.000,2988,2198,1801
$GC,1789,0.79,146.6,84.5,7.2,182,1792,0.00,2.38,0.00,0.000,4,0.000,0.044,2988,3616,1799
$GC,1851,0.79,146.6,79.5,7.6,187,1858,0.00,2.22,0.00,0.000,6,0.000,0.027,2995,2206,1799
$GC,2181,0.79,146.6,56.5,6.6,218,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2205,1799
$GC,2507,0.79,146.6,34.2,7.1,249,2511,0.00,2.30,0.00,0.000,4,0.000,0.044,2995,3606,1799
$GC,2565,0.79,146.6,29.9,7.8,254,2569,0.00,2.22,0.00,0.000,6,0.000,0.027,3001,2189,1799
$GC,2765,0.84,186.7,18.8,4.9,274,2800,0.00,0.00,31.45,0.742,6,0.000,0.000,3001,2189,1637
$GC,2870,0.84,186.7,12.7,6.1,292,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2189,1636
$GC,2946,0.86,204.8,8.3,5.5,305,2970,0.00,2.42,14.62,0.739,4,0.000,0.044,3001,3607,1564
$STATE,3069,end climb,SURFACE_DEPTH_REACHED
$STATE,3070,begin surface coast
$FINISH,1.5,1.004732
$STATE,3122,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3147,178.38,0.640,0,0,203,538.68
$SM_GC,2.39,0.00,0.00,178.38,0.000,0.000,0.640,9,2335,203,-8.53,-0.42,538.68
$IRIDIUM_FIX,4751.72,-12226.29,031007,050512
$TT8_MAMPS,0.026845
$HUMID,1825
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,45.0
$24V_AH,24.3,61.432
$10V_AH,10.7,31.081
$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,20.100,27.225,269.700,178.375,0.000,153.487,118.229,686.633,0.500,0.000,0.000,33.167,537.866,1798.522,500.314,680.503,1186.695,33.336,853.857,0.000,675.977,0.000,5.479
$DEVICE_MAMPS,204.022,61.360,743.223,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.901,262.056,567.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,336
$CFSIZE,260165632,238751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,021302,4806.249,-12222.498,41,2.0,42,18.3