version: 66.03
glider: 128
mission: 2
dive: 689
start: 10 3 107 4 49 43
data:
$ID,128
$MISSION,2
$DIVE,689
$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,-75364.82
$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,58
$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
$GPS1,043201,4806.354,-12222.693,36,1.3,37,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.8
$GPS2,044847,4806.187,-12222.528,14,2.4,33,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.060,0.208
$KALMAN_X,-39078.7,238.9,140.1,39964.8,32.8
$KALMAN_Y,-13295.0,-261.5,-190.2,11022.1,-387.8
$MHEAD_RNG_PITCHd_Wd,325.5,3820,-11.0,-5.970
$D_GRID,101
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,94,0.00,0.00,-58.78,0.000,2,0.000,0.000,21,2351,2245
$GC,99,-0.79,-146.6,3.1,-1.4,11,135,9.98,2.42,-19.85,0.000,4,0.206,0.060,2468,3757,3000
$GC,298,-0.79,-146.6,25.1,-9.2,41,305,0.00,2.20,0.00,0.000,6,0.000,0.025,2468,2333,3003
$GC,497,-0.79,-146.6,42.4,-8.7,60,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2332,3004
$GC,688,-0.79,-146.6,59.6,-9.1,78,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2332,3004
$GC,1007,-0.79,-146.6,87.9,-8.5,108,1011,0.00,2.38,0.00,0.000,4,0.000,0.048,2460,3760,3004
$GC,1074,-0.79,-146.6,94.4,-9.2,113,1081,0.00,2.17,0.00,0.000,6,0.000,0.025,2459,2337,3004
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1162,-0.28,0.0,101.4,8.9,121,1279,0.57,0.00,112.32,0.736,6,0.111,0.000,2641,2199,2399
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1284,0.79,146.6,105.9,0.0,133,1402,1.08,0.00,111.53,0.689,6,0.084,0.000,2988,2198,1801
$GC,1722,0.79,146.6,78.6,7.2,175,1725,0.00,2.35,0.00,0.000,4,0.000,0.044,2988,3607,1799
$GC,1780,0.79,146.6,74.0,8.3,180,1784,0.00,2.22,0.00,0.000,6,0.000,0.026,2996,2204,1799
$GC,2110,0.79,146.6,50.3,6.9,210,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2202,1799
$GC,2436,0.79,146.6,28.4,6.6,241,2440,0.00,2.30,0.00,0.000,4,0.000,0.044,2995,3604,1799
$GC,2516,0.79,146.6,22.3,7.7,248,2521,0.00,2.20,0.00,0.000,6,0.000,0.026,3004,2186,1799
$GC,2727,0.80,154.9,10.0,5.7,282,2740,0.00,2.25,8.07,0.754,4,0.000,0.035,3011,813,1768
$GC,2833,0.87,214.5,5.2,4.3,300,2884,0.00,2.22,44.30,0.695,6,0.000,0.031,3011,2213,1525
$GC,2954,1.12,410.9,2.6,0.6,321,3045,0.22,0.00,87.18,0.649,2,0.053,0.000,3113,2212,810
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,1.8,1.010676
$STATE,3203,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3204,begin surface
$SM_CCo,3227,3.75,0.493,0,0,768,400.08
$SM_GC,3.04,0.00,0.00,3.75,0.000,0.000,0.493,10,2347,768,-8.53,-0.08,400.08
$IRIDIUM_FIX,4748.51,-12224.57,031007,080819
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.8,47.2
$24V_AH,24.3,61.741
$10V_AH,10.7,31.233
$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,20.775,23.075,363.400,3.750,0.000,112.118,62.896,488.047,0.250,0.000,0.000,35.386,558.164,1693.313,368.677,744.897,884.810,33.344,754.952,0.000,740.131,0.000,2.520
$DEVICE_MAMPS,205.556,59.826,753.961,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.221,278.082,616.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19151,365
$CFSIZE,260165632,238649344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,054427,4806.365,-12222.617,11,1.8,11,18.3