version: 66.03
glider: 128
mission: 2
dive: 652
start: 10 1 107 13 34 24
data:
$ID,128
$MISSION,2
$DIVE,652
$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,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,-74504.562
$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,56
$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
$GPS1,132246,4805.354,-12221.470,12,3.8,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.3
$GPS2,133325,4805.358,-12221.466,38,1.6,38,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,0.212
$KALMAN_X,-33315.9,-108.3,56.7,35946.4,-306.0
$KALMAN_Y,-12338.1,-146.3,210.9,8015.3,-27.9
$MHEAD_RNG_PITCHd_Wd,329.0,5809,-11.0,-5.970
$D_GRID,110
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,102,0.00,0.00,-70.10,0.000,2,0.000,0.000,17,2354,2485
$GC,106,-0.79,-146.6,3.1,-1.3,13,137,10.00,2.35,-14.98,0.000,4,0.207,0.045,2477,947,3000
$GC,444,-0.79,-146.6,37.7,-9.0,56,450,0.00,2.28,0.00,0.000,6,0.000,0.035,2475,2353,3003
$GC,642,-0.79,-146.6,54.2,-8.8,75,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2354,3003
$GC,966,-0.79,-146.6,80.2,-8.1,105,970,0.00,2.25,0.00,0.000,4,0.000,0.032,2474,940,3003
$GC,1018,-0.79,-146.6,84.8,-7.9,109,1022,0.00,2.28,0.00,0.000,6,0.000,0.034,2472,2352,3003
$STATE,1334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1334,begin apogee
$GC,1343,-0.28,0.0,110.5,8.5,138,1460,0.55,0.00,112.43,0.760,6,0.106,0.000,2647,2175,2399
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1465,0.79,146.6,115.1,0.0,150,1584,1.05,2.33,111.10,0.712,4,0.079,0.035,2997,827,1802
$GC,1619,0.79,146.6,108.2,6.4,164,1626,0.00,2.30,0.00,0.000,6,0.000,0.031,2997,2213,1800
$GC,1950,0.79,146.6,86.4,6.9,195,1954,0.00,2.33,0.00,0.000,4,0.000,0.047,2997,3609,1799
$GC,1991,0.79,146.6,83.0,7.9,198,1995,0.00,2.22,0.00,0.000,6,0.000,0.027,3005,2206,1799
$GC,2322,0.79,146.6,58.9,7.6,228,2326,0.00,2.25,0.00,0.000,4,0.000,0.036,3012,801,1799
$GC,2375,0.79,146.6,54.6,7.6,232,2379,0.00,2.25,0.00,0.000,6,0.000,0.031,3012,2205,1799
$GC,2704,0.79,146.6,31.3,6.8,262,2708,0.00,2.30,0.00,0.000,4,0.000,0.046,3012,3608,1799
$GC,2790,0.79,146.6,24.9,6.3,269,2794,0.00,2.20,0.00,0.000,6,0.000,0.027,3020,2199,1799
$GC,2999,0.83,179.0,13.6,5.1,297,3034,0.00,2.28,25.70,0.796,4,0.000,0.036,3026,813,1670
$GC,3070,0.83,179.4,9.3,6.0,309,3076,0.00,2.25,0.00,0.000,6,0.000,0.031,3026,2207,1669
$GC,3146,0.83,179.4,4.6,6.4,322,3153,0.00,2.33,0.00,0.000,4,0.000,0.046,3026,3613,1669
$GC,3172,0.83,179.4,3.0,6.4,326,3179,0.00,2.25,0.00,0.000,6,0.000,0.027,3033,2204,1668
$STATE,3188,end climb,SURFACE_DEPTH_REACHED
$STATE,3188,begin surface coast
$FINISH,1.6,1.013227
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3223,begin surface
$SM_CCo,3246,114.22,0.665,0,0,769,400.08
$SM_GC,2.48,0.00,0.00,114.22,0.000,0.000,0.665,19,2359,769,-8.51,0.25,400.08
$IRIDIUM_FIX,4748.51,-12217.40,011007,161601
$TT8_MAMPS,0.026078
$HUMID,1874
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,50.5
$24V_AH,24.3,58.387
$10V_AH,10.7,29.558
$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,20.175,36.900,249.225,114.225,0.000,83.304,198.320,96.657,0.750,0.000,0.000,43.385,557.625,1736.630,401.596,741.992,578.786,33.346,779.982,0.000,726.388,0.000,5.493
$DEVICE_MAMPS,207.090,46.787,796.146,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.572,261.970,565.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15962,335
$CFSIZE,260165632,239734784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,143115,4805.751,-12221.806,9,1.9,9,18.3