version: 66.03
glider: 128
mission: 2
dive: 833
start: 10 8 107 8 48 15
data:
$ID,128
$MISSION,2
$DIVE,833
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,20
$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,530
$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,-86269.812
$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,54
$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
$GPS1,084147,4809.057,-12224.435,10,2.6,29,18.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-70.8
$GPS2,084659,4809.038,-12224.410,10,3.4,29,18.4
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.279
$KALMAN_X,327.3,202.8,88.3,832.6,33.2
$KALMAN_Y,95.4,90.3,66.3,-2147.5,-25.7
$MHEAD_RNG_PITCHd_Wd,150.4,1987,-16.4,-10.000
$D_GRID,72
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.09,-146.6,0.0,0.0,0,39,0.00,0.00,-5.10,0.000,2,0.000,0.000,16,2357,364
$GC,44,-1.09,-146.6,2.5,-0.0,1,143,9.45,2.28,-83.28,0.000,4,0.200,0.045,2383,952,2999
$GC,322,-1.09,-146.6,33.7,-12.9,50,329,0.00,2.28,0.00,0.000,6,0.000,0.035,2375,2340,3001
$GC,539,-1.09,-146.6,61.4,-13.3,80,543,0.00,2.22,0.00,0.000,4,0.000,0.033,2375,947,3001
$GC,569,-1.09,-146.6,66.1,-14.2,82,573,0.00,2.28,0.00,0.000,6,0.000,0.034,2366,2362,3000
$STATE,616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,616,begin apogee
$GC,626,-0.28,0.0,73.0,14.2,86,744,0.90,0.00,112.50,0.712,6,0.123,0.000,2641,2171,2399
$STATE,744,end apogee,CONTROL_FINISHED_OK
$STATE,745,begin climb
$GC,749,1.09,146.6,79.3,0.0,98,865,1.38,0.00,111.57,0.669,6,0.085,0.000,3086,2171,1801
$GC,1185,1.11,163.3,45.5,9.4,143,1208,0.00,2.45,14.40,0.759,4,0.000,0.044,3085,3604,1733
$GC,1233,1.11,163.3,41.0,10.1,151,1240,0.00,2.22,0.00,0.000,6,0.000,0.027,3096,2208,1733
$GC,1449,1.18,214.1,22.1,8.1,188,1494,0.00,2.30,39.33,0.696,4,0.000,0.036,3105,807,1525
$GC,1548,1.19,221.6,13.0,9.7,205,1560,0.00,2.30,7.43,0.672,6,0.000,0.031,3105,2201,1495
$GC,1631,1.38,376.8,8.2,4.2,219,1759,0.17,2.42,117.47,0.646,4,0.054,0.044,3194,3599,862
$STATE,1890,end climb,NO_VERTICAL_VELOCITY
$STATE,1890,begin surface
$SM_CCo,1896,106.10,0.638,0,0,203,538.68
$SM_GC,2.43,9.20,0.00,0.00,0.042,0.000,0.000,13,2324,195,-8.45,-0.71,540.89
$IRIDIUM_FIX,4751.72,-12223.57,081007,121239
$TT8_MAMPS,0.026078
$HUMID,1868
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,47.3,6.4
$24V_AH,24.2,77.158
$10V_AH,10.7,37.318
$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,21.100,23.075,402.700,106.100,0.000,28.689,15.161,124.532,0.500,0.000,0.000,32.120,398.198,668.563,500.570,529.708,363.330,33.317,820.697,0.000,525.862,0.000,2.462
$DEVICE_MAMPS,200.187,45.253,759.330,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,192.046,195.088,447.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12848,265
$CFSIZE,260165632,235114496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,092437,4808.808,-12224.331,8,1.5,24,18.4