version: 66.03
glider: 128
mission: 2
dive: 602
start: 9 29 107 11 55 50
data:
$ID,128
$MISSION,2
$DIVE,602
$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,-73247.109
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,115021,4806.530,-12222.786,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.9
$GPS2,115450,4806.560,-12222.788,13,2.0,30,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.218
$KALMAN_X,-24203.5,43.3,-82.1,25189.4,-68.6
$KALMAN_Y,-19176.1,187.3,-48.3,17003.4,-26.5
$MHEAD_RNG_PITCHd_Wd,318.8,3060,-14.1,-7.547
$D_GRID,103
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.96,-146.6,0.0,0.0,0,83,0.00,0.00,-53.40,0.000,2,0.000,0.000,18,2363,2303
$GC,88,-0.96,-146.6,3.0,-1.5,10,128,9.68,2.40,-22.60,0.000,4,0.203,0.061,2415,3752,3000
$GC,136,-0.96,-146.6,6.5,-6.8,18,142,0.00,2.25,0.00,0.000,6,0.000,0.024,2415,2322,3001
$GC,212,-0.96,-146.6,16.3,-12.3,31,219,0.00,2.20,0.00,0.000,4,0.000,0.035,2415,973,3002
$GC,522,-0.96,-146.6,52.5,-10.9,61,529,0.00,2.22,0.00,0.000,6,0.000,0.036,2408,2347,3003
$GC,853,-0.96,-146.6,88.1,-11.1,92,857,0.00,2.22,0.00,0.000,4,0.000,0.035,2408,964,3003
$GC,972,-0.96,-146.6,102.5,-10.7,102,977,0.00,2.17,0.00,0.000,3,0.000,0.036,2401,2311,3003
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,986,-0.28,0.0,103.4,10.7,102,1103,0.77,0.00,111.82,0.747,6,0.116,0.000,2641,2184,2400
$STATE,1104,end apogee,CONTROL_FINISHED_OK
$STATE,1104,begin climb
$GC,1108,0.96,146.6,108.5,0.0,114,1225,1.23,0.00,111.18,0.703,6,0.080,0.000,3040,2183,1802
$GC,1544,0.96,146.6,74.1,9.0,155,1548,0.00,2.22,0.00,0.000,4,0.000,0.041,3050,823,1799
$GC,1579,0.96,146.6,71.0,9.1,158,1583,0.00,2.25,0.00,0.000,6,0.000,0.035,3049,2195,1799
$GC,1907,0.96,146.6,41.7,8.3,188,1911,0.00,2.35,0.00,0.000,4,0.000,0.049,3049,3612,1799
$GC,1998,0.96,146.6,32.7,9.4,195,2004,0.00,2.20,0.00,0.000,6,0.000,0.028,3058,2221,1799
$GC,2199,0.96,146.6,15.5,8.4,218,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2220,1799
$GC,2274,0.97,149.4,9.4,7.5,231,2281,0.00,2.30,0.00,0.000,4,0.000,0.040,3067,808,1800
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2403,begin surface coast
$FINISH,1.6,1.012787
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2419,begin surface
$SM_CCo,2442,109.25,0.678,0,0,973,350.04
$SM_GC,2.55,0.00,0.00,109.25,0.000,0.000,0.678,14,2353,973,-8.52,0.08,350.04
$IRIDIUM_FIX,4748.51,-12221.84,290907,151503
$TT8_MAMPS,0.026845
$HUMID,1879
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.7,42.1
$24V_AH,24.4,54.236
$10V_AH,10.7,27.429
$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,20.350,27.500,223.000,109.250,0.000,25.653,12.200,98.404,0.250,0.000,0.000,31.566,438.726,1128.122,374.842,591.535,308.568,33.346,687.770,0.000,583.963,0.000,2.508
$DEVICE_MAMPS,203.255,61.360,747.058,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.012,198.646,432.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12853,256
$CFSIZE,260165632,241123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,123932,4806.756,-12223.135,12,2.0,29,18.3