version: 66.03
glider: 128
mission: 2
dive: 635
start: 9 30 107 19 55 31
data:
$ID,128
$MISSION,2
$DIVE,635
$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,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,-74000.773
$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,41
$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
$GPS1,193637,4806.316,-12222.104,13,1.6,24,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-62.0
$GPS2,195435,4806.494,-12222.237,9,2.6,28,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.142,0.164
$KALMAN_X,-31519.1,-138.0,139.8,33141.3,-125.2
$KALMAN_Y,-13433.4,-32.3,-279.7,11588.4,226.2
$MHEAD_RNG_PITCHd_Wd,300.8,3539,-11.0,-5.970
$D_GRID,108
$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,-0.79,-146.6,0.0,0.0,0,128,0.00,0.00,-97.07,0.000,2,0.000,0.000,11,2331,2581
$GC,133,-0.79,-146.6,3.1,-1.3,18,163,9.98,2.45,-10.95,0.000,4,0.205,0.061,2471,3749,3000
$GC,466,-0.79,-146.6,39.7,-8.8,59,473,0.00,2.22,0.00,0.000,6,0.000,0.026,2472,2309,3002
$GC,665,-0.79,-146.6,56.8,-8.3,78,669,0.00,2.40,0.00,0.000,4,0.000,0.049,2468,3754,3002
$GC,851,-0.79,-146.6,73.4,-9.6,94,857,0.00,2.17,0.00,0.000,6,0.000,0.026,2468,2341,3002
$GC,1177,-0.79,-146.6,101.3,-8.5,125,1181,0.00,2.35,0.00,0.000,4,0.000,0.048,2460,3757,3003
$GC,1223,-0.79,-146.6,105.7,-9.3,128,1229,0.00,2.15,0.00,0.000,6,0.000,0.026,2460,2351,3002
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1257,-0.28,0.0,108.0,8.8,131,1374,0.57,0.00,111.93,0.751,6,0.110,0.000,2642,2196,2399
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1379,0.79,146.6,112.4,0.0,143,1496,1.08,0.00,111.53,0.697,6,0.083,0.000,2989,2196,1801
$GC,1815,0.79,146.6,84.2,7.1,185,1819,0.00,2.35,0.00,0.000,4,0.000,0.045,2989,3603,1799
$GC,1907,0.79,146.6,76.4,9.1,193,1911,0.00,2.20,0.00,0.000,6,0.000,0.026,2997,2211,1799
$GC,2236,0.79,146.6,51.1,6.9,223,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2209,1799
$GC,2563,0.79,146.6,28.2,6.4,254,2567,0.00,2.30,0.00,0.000,4,0.000,0.045,2997,3605,1799
$GC,2598,0.79,146.6,25.4,8.1,257,2602,0.00,2.20,0.00,0.000,6,0.000,0.026,3006,2200,1800
$GC,2806,0.82,168.7,14.5,5.4,285,2830,0.00,2.22,18.30,0.807,4,0.000,0.035,3012,808,1711
$GC,2923,0.86,202.0,8.1,5.1,305,2957,0.00,2.22,25.92,0.713,6,0.000,0.031,3012,2199,1575
$GC,3027,0.86,202.0,2.4,6.0,323,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,1573
$STATE,3037,end climb,SURFACE_DEPTH_REACHED
$STATE,3037,begin surface coast
$FINISH,1.4,1.025546
$STATE,3072,end surface coast,CONTROL_FINISHED_OK
$STATE,3072,begin surface
$SM_CCo,3095,170.90,0.645,0,0,204,538.68
$SM_GC,2.29,0.00,0.00,170.90,0.000,0.000,0.645,20,2346,204,-8.50,-0.11,538.68
$IRIDIUM_FIX,4748.51,-12219.12,300907,232343
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,83.2,42.2
$24V_AH,24.4,56.919
$10V_AH,10.7,28.813
$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,20.200,27.650,267.675,170.900,0.000,128.683,143.305,398.927,0.750,0.000,0.000,31.058,529.559,1719.790,501.690,717.046,888.555,33.344,872.436,0.000,715.434,0.000,4.064
$DEVICE_MAMPS,204.789,61.360,806.884,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.157,255.958,558.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16003,331
$CFSIZE,260165632,240205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,205051,4806.774,-12222.505,12,1.7,13,18.3