version: 66.03
glider: 128
mission: 2
dive: 684
start: 10 2 107 22 57 24
data:
$ID,128
$MISSION,2
$DIVE,684
$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,1
$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,-75233.227
$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,62
$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
$GPS1,225215,4805.654,-12221.881,9,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-62.6
$GPS2,225627,4805.662,-12221.911,13,1.8,13,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,0.203
$KALMAN_X,-38945.5,-432.9,51.8,41355.6,-124.7
$KALMAN_Y,-11537.3,434.4,-83.3,7490.7,-71.8
$MHEAD_RNG_PITCHd_Wd,321.4,5041,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,133,0.00,0.00,-97.12,0.000,2,0.000,0.000,17,2331,2628
$GC,138,-0.79,-146.6,3.3,-1.6,18,163,9.90,2.40,-9.02,0.000,4,0.203,0.061,2468,3747,2999
$GC,463,-0.79,-146.6,41.1,-9.5,56,469,0.00,2.17,0.00,0.000,6,0.000,0.026,2468,2338,3002
$GC,662,-0.79,-146.6,59.5,-9.0,75,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2338,3002
$GC,984,-0.79,-146.6,85.5,-8.3,105,988,0.00,2.35,0.00,0.000,4,0.000,0.048,2458,3746,3002
$GC,1029,-0.79,-146.6,90.0,-9.0,108,1038,0.00,2.15,0.00,0.000,6,0.000,0.026,2458,2347,3002
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1234,begin apogee
$GC,1243,-0.28,0.0,108.8,9.3,128,1360,0.57,0.00,111.85,0.734,6,0.110,0.000,2640,2196,2400
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1365,0.79,146.6,113.8,0.0,140,1483,1.08,0.00,111.47,0.686,6,0.083,0.000,2989,2196,1801
$GC,1802,0.79,146.6,87.9,6.6,182,1806,0.00,2.35,0.00,0.000,4,0.000,0.046,2989,3605,1799
$GC,1871,0.79,146.6,82.8,7.5,188,1875,0.00,2.22,0.00,0.000,6,0.000,0.027,2996,2206,1799
$GC,2201,0.79,146.6,59.9,7.5,218,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2204,1799
$GC,2527,0.79,146.6,36.2,6.9,249,2531,0.00,2.30,0.00,0.000,4,0.000,0.045,2996,3606,1799
$GC,2578,0.79,146.6,32.1,8.0,253,2584,0.00,2.22,0.00,0.000,6,0.000,0.026,3005,2185,1799
$GC,2777,0.80,156.0,19.6,5.7,272,2789,0.00,0.00,8.80,0.769,6,0.000,0.000,3004,2184,1764
$GC,2859,0.82,168.2,15.0,5.6,286,2877,0.00,2.22,10.95,0.764,4,0.000,0.037,3006,803,1713
$GC,2964,0.88,217.5,9.9,4.6,304,3010,0.00,2.28,37.88,0.681,6,0.000,0.031,3006,2201,1512
$GC,3080,0.91,241.2,4.2,5.3,324,3104,0.00,2.38,18.40,0.680,4,0.000,0.044,3006,3608,1414
$STATE,3125,end climb,SURFACE_DEPTH_REACHED
$STATE,3125,begin surface coast
$FINISH,1.6,1.004296
$STATE,3171,end surface coast,CONTROL_FINISHED_OK
$STATE,3171,begin surface
$SM_CCo,3196,77.50,0.643,0,0,768,400.08
$SM_GC,2.31,0.00,0.00,77.50,0.000,0.000,0.643,15,2326,768,-8.52,-0.68,400.08
$IRIDIUM_FIX,4748.51,-12224.57,031007,010157
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,39.2
$24V_AH,24.3,61.217
$10V_AH,10.7,30.983
$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,20.225,27.275,299.350,77.500,0.000,31.105,15.262,88.604,1.250,0.000,0.000,15.421,534.367,1555.525,426.893,699.562,324.187,33.347,800.877,0.000,708.438,0.000,11.512
$DEVICE_MAMPS,203.255,60.593,768.534,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.216,260.855,573.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,340
$CFSIZE,260165632,238817280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,235307,4805.985,-12222.176,11,1.4,27,18.3