version: 66.03
glider: 128
mission: 2
dive: 661
start: 10 1 107 22 43 29
data:
$ID,128
$MISSION,2
$DIVE,661
$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,-74713.688
$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,36
$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
$GPS1,223526,4807.562,-12223.541,39,2.0,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-66.6
$GPS2,224232,4807.553,-12223.484,14,1.7,14,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.158
$KALMAN_X,-33213.6,-166.5,7.7,33455.5,250.0
$KALMAN_Y,-14389.8,-62.9,-129.4,14386.8,-199.7
$MHEAD_RNG_PITCHd_Wd,298.4,1045,-11.0,-5.970
$D_GRID,105
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-0.79,-146.6,0.0,0.0,0,93,0.00,0.00,-59.03,0.000,2,0.000,0.000,12,2354,2258
$GC,98,-0.79,-146.6,3.0,-1.4,11,139,9.88,2.35,-24.08,0.000,4,0.200,0.061,2469,3751,2998
$GC,443,-0.79,-146.6,37.8,-8.8,55,449,0.00,2.20,0.00,0.000,6,0.000,0.026,2469,2326,3001
$GC,642,-0.79,-146.6,54.5,-8.5,74,646,0.00,2.40,0.00,0.000,4,0.000,0.048,2461,3761,3001
$GC,821,-0.79,-146.6,71.3,-9.3,89,828,0.00,2.17,0.00,0.000,6,0.000,0.026,2461,2348,3001
$GC,1152,-0.79,-146.6,100.6,-8.9,120,1156,0.00,2.35,0.00,0.000,4,0.000,0.048,2452,3755,3001
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1194,begin apogee
$GC,1205,-0.28,0.0,105.3,9.8,123,1322,0.62,0.00,111.93,0.746,6,0.114,0.000,2645,2192,2399
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1327,0.79,146.6,110.3,0.0,135,1444,1.05,0.00,111.55,0.690,6,0.084,0.000,2986,2192,1801
$GC,1764,0.79,146.6,84.5,7.2,177,1768,0.00,2.35,0.00,0.000,4,0.000,0.045,2986,3606,1799
$GC,1804,0.79,146.6,81.3,8.0,180,1810,0.00,2.20,0.00,0.000,6,0.000,0.026,2995,2208,1799
$GC,2135,0.79,146.6,57.9,6.9,211,2139,0.00,2.33,0.00,0.000,4,0.000,0.045,2995,3608,1799
$GC,2187,0.79,146.6,53.6,7.7,215,2191,0.00,2.22,0.00,0.000,6,0.000,0.026,3004,2196,1799
$GC,2517,0.79,146.6,30.6,6.7,245,2521,0.00,2.35,0.00,0.000,4,0.000,0.045,3004,3615,1799
$GC,2573,0.79,146.6,26.1,6.9,249,2580,0.00,2.22,0.00,0.000,6,0.000,0.027,3012,2194,1799
$GC,2778,0.79,149.6,13.8,5.9,277,2791,0.00,2.25,3.78,0.535,4,0.000,0.035,3012,807,1790
$GC,2883,0.82,174.1,7.9,5.3,295,2912,0.00,2.22,19.88,0.797,6,0.000,0.031,3012,2206,1689
$GC,2982,0.87,211.5,3.1,4.9,312,3007,0.00,2.20,19.80,0.701,3,0.000,0.035,3012,889,1536
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,1.6,1.010942
$STATE,3052,end surface coast,CONTROL_FINISHED_OK
$STATE,3052,begin surface
$SM_CCo,3078,93.50,0.651,0,0,769,400.08
$SM_GC,2.38,0.00,0.00,93.50,0.000,0.000,0.651,11,2350,769,-8.53,0.00,400.08
$IRIDIUM_FIX,4751.72,-12226.29,021007,020221
$TT8_MAMPS,0.026845
$HUMID,1874
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.3,59.143
$10V_AH,10.7,29.951
$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,20.175,36.725,266.925,93.500,0.000,51.556,24.852,166.305,2.000,0.000,0.000,16.360,535.199,1527.815,413.915,696.294,438.949,33.345,772.675,0.000,703.005,0.000,15.664
$DEVICE_MAMPS,200.187,61.360,796.913,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.629,252.125,546.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,324
$CFSIZE,260165632,239476736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,233736,4807.705,-12223.644,31,1.3,35,18.3