version: 66.03
glider: 128
mission: 2
dive: 687
start: 10 3 107 2 22 11
data:
$ID,128
$MISSION,2
$DIVE,687
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$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,-75297.383
$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,35
$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
$GPS1,021302,4806.249,-12222.498,41,2.0,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-63.9
$GPS2,022114,4806.138,-12222.378,9,1.9,9,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.201
$KALMAN_X,-39079.1,-108.9,176.5,40463.3,95.8
$KALMAN_Y,-12418.4,122.4,-137.8,9621.7,-378.3
$MHEAD_RNG_PITCHd_Wd,319.6,3989,-11.0,-5.970
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,121,0.00,0.00,-86.18,0.000,2,0.000,0.000,9,2336,2374
$GC,126,-0.79,-146.6,3.2,-1.4,16,156,9.98,0.00,-16.45,0.000,6,0.203,0.000,2481,2335,2999
$GC,226,-0.79,-146.6,14.1,-9.5,33,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2335,3003
$GC,301,-0.79,-146.6,21.3,-9.6,45,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2335,3003
$GC,492,-0.79,-146.6,38.4,-8.3,63,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2335,3003
$GC,683,-0.79,-146.6,54.7,-8.5,81,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2335,3004
$GC,1002,-0.79,-146.6,82.6,-8.3,111,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2335,3004
$STATE,1274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1274,begin apogee
$GC,1284,-0.28,0.0,105.5,8.4,137,1401,0.50,0.00,112.22,0.736,6,0.104,0.000,2642,2186,2400
$STATE,1402,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1406,0.79,146.6,110.1,0.0,149,1523,1.05,0.00,111.65,0.691,6,0.081,0.000,2985,2186,1801
$GC,1842,0.79,146.6,83.6,7.0,191,1846,0.00,2.38,0.00,0.000,4,0.000,0.045,2985,3609,1799
$GC,1889,0.79,146.6,80.1,7.8,195,1893,0.00,2.22,0.00,0.000,6,0.000,0.026,2994,2205,1800
$GC,2221,0.79,146.6,57.8,6.3,225,2225,0.00,2.33,0.00,0.000,4,0.000,0.044,2994,3608,1800
$GC,2262,0.79,146.6,54.4,7.4,228,2266,0.00,2.22,0.00,0.000,6,0.000,0.026,3002,2196,1799
$GC,2593,0.79,146.6,31.2,7.1,258,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2195,1800
$GC,2793,0.84,185.8,19.1,4.9,278,2827,0.00,0.00,30.75,0.738,6,0.000,0.000,3002,2194,1641
$GC,2897,0.84,188.7,13.4,5.9,296,2910,0.00,2.40,3.92,0.535,4,0.000,0.044,3002,3604,1630
$GC,2935,0.84,188.7,11.0,6.2,302,2942,0.00,2.22,0.00,0.000,6,0.000,0.026,3006,2198,1630
$GC,3012,0.87,209.4,6.7,5.4,315,3035,0.00,2.40,16.52,0.729,4,0.000,0.045,3006,3615,1545
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,1.5,1.002340
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3176,98.10,0.653,0,0,769,400.08
$SM_GC,2.36,0.00,0.00,98.10,0.000,0.000,0.653,17,2330,769,-8.51,-0.57,400.08
$IRIDIUM_FIX,4745.30,-12222.84,031007,060657
$TT8_MAMPS,0.026845
$HUMID,1875
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,55.1
$24V_AH,24.3,61.522
$10V_AH,10.7,31.127
$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,20.100,18.400,275.075,98.100,0.000,54.978,48.912,209.493,0.250,0.000,0.000,10.914,535.613,1664.289,425.607,643.391,510.950,33.342,770.359,0.000,664.022,0.000,2.529
$DEVICE_MAMPS,203.255,45.253,737.854,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.661,266.601,572.191,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15946,339
$CFSIZE,260165632,238727168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,031759,4806.362,-12222.663,12,2.4,31,18.3