version: 66.03
glider: 128
mission: 2
dive: 581
start: 9 28 107 18 20 0
data:
$ID,128
$MISSION,2
$DIVE,581
$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,53
$T_MISSION,65
$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,350
$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,-72751.344
$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,43
$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
$GPS1,181056,4807.172,-12223.497,39,1.1,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.3
$GPS2,181902,4807.129,-12223.481,11,1.1,11,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,0.235
$KALMAN_X,-23699.2,94.0,53.1,23640.7,-70.0
$KALMAN_Y,-17654.8,-323.0,-96.7,17093.9,-269.1
$MHEAD_RNG_PITCHd_Wd,335.1,1736,-14.1,-7.547
$D_GRID,101
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.96,-146.6,0.0,0.0,0,94,0.00,0.00,-63.97,0.000,2,0.000,0.000,11,2358,2533
$GC,98,-0.96,-146.6,3.2,-2.0,12,128,9.70,2.30,-12.40,0.000,4,0.203,0.047,2421,953,3000
$GC,192,-0.96,-146.6,15.3,-11.6,28,198,0.00,2.28,0.00,0.000,6,0.000,0.032,2415,2349,3003
$GC,266,-0.96,-146.6,23.9,-11.3,38,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2350,3003
$GC,457,-0.96,-146.6,45.5,-11.1,56,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2349,3003
$GC,648,-0.96,-146.6,67.0,-11.2,74,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2350,3003
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,974,-0.28,0.0,101.8,10.9,104,1091,0.73,0.00,111.93,0.746,6,0.113,0.000,2642,2172,2399
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1093,begin climb
$GC,1096,0.96,146.6,106.9,0.0,116,1213,1.25,0.00,111.47,0.701,6,0.080,0.000,3048,2173,1802
$GC,1532,0.96,146.6,73.2,9.0,158,1536,0.00,2.40,0.00,0.000,4,0.000,0.044,3048,3607,1799
$GC,1591,0.96,146.6,67.6,9.8,163,1595,0.00,2.22,0.00,0.000,6,0.000,0.027,3057,2209,1799
$GC,1919,0.96,146.6,37.8,9.1,193,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2207,1799
$GC,2118,0.96,146.6,20.3,8.3,212,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2207,1799
$GC,2323,0.96,147.1,4.5,7.5,247,2329,0.00,2.25,0.00,0.000,4,0.000,0.036,3066,810,1799
$STATE,2363,end climb,SURFACE_DEPTH_REACHED
$STATE,2363,begin surface coast
$FINISH,1.6,1.003192
$STATE,2402,end surface coast,CONTROL_FINISHED_OK
$STATE,2402,begin surface
$SM_CCo,2426,104.53,0.679,0,0,973,350.04
$SM_GC,2.37,0.00,0.00,104.53,0.000,0.000,0.679,19,2368,973,-8.50,0.51,350.04
$IRIDIUM_FIX,4751.72,-12223.57,280907,222251
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.4,42.9
$24V_AH,24.4,52.631
$10V_AH,10.7,26.659
$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,20.300,14.200,223.400,104.525,0.000,52.467,151.870,107.460,0.250,0.000,0.000,12.998,428.415,1267.710,373.867,497.214,469.274,33.350,638.247,0.000,512.839,0.000,2.510
$DEVICE_MAMPS,203.255,46.787,745.524,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.944,206.278,440.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12759,261
$CFSIZE,260165632,241647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,190303,4807.371,-12223.581,12,1.8,12,18.3