version: 66.03
glider: 128
mission: 2
dive: 691
start: 10 3 107 7 13 39
data:
$ID,128
$MISSION,2
$DIVE,691
$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,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,-75397.039
$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,63
$R_STBD_OVSHOOT,42
$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
$GPS1,065107,4806.439,-12222.653,39,0.8,45,18.3
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-64.9
$GPS2,071239,4806.319,-12222.424,12,1.4,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.186
$KALMAN_X,-38549.1,457.1,-23.6,39506.3,169.7
$KALMAN_Y,-14077.5,-648.2,-150.2,12398.2,-299.7
$MHEAD_RNG_PITCHd_Wd,310.8,3673,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,96,0.00,0.00,-64.22,0.000,2,0.000,0.000,23,2351,2190
$GC,100,-0.79,-146.6,3.2,-1.2,12,146,9.90,0.00,-29.05,0.000,6,0.203,0.000,2477,2350,2999
$GC,217,-0.79,-146.6,11.5,-9.6,32,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3000
$GC,292,-0.79,-146.6,18.8,-9.5,45,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3001
$GC,370,-0.79,-146.6,25.7,-8.5,53,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3001
$GC,561,-0.79,-146.6,42.2,-8.7,71,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3001
$GC,752,-0.79,-146.6,59.3,-9.0,89,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3001
$GC,1070,-0.79,-146.6,86.7,-8.5,119,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2351,3002
$STATE,1288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1288,begin apogee
$GC,1298,-0.28,0.0,105.2,8.4,140,1415,0.52,0.00,112.22,0.745,6,0.106,0.000,2645,2187,2400
$STATE,1416,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1420,0.79,146.6,109.6,0.0,152,1536,1.05,0.00,111.30,0.693,6,0.081,0.000,2987,2185,1802
$GC,1854,0.79,146.6,82.6,7.2,193,1858,0.00,2.35,0.00,0.000,4,0.000,0.044,2987,3601,1799
$GC,1934,0.79,146.6,76.2,8.3,200,1938,0.00,2.17,0.00,0.000,6,0.000,0.026,2996,2209,1799
$GC,2269,0.79,146.6,52.6,6.9,231,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2207,1799
$GC,2595,0.79,146.6,30.7,6.3,262,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2207,1799
$GC,2787,0.79,146.6,18.7,6.3,281,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2207,1799
$GC,2863,0.81,165.8,14.6,5.4,294,2886,0.00,0.00,16.42,0.795,6,0.000,0.000,2996,2207,1722
$GC,2956,0.84,187.2,9.6,5.4,310,2980,0.00,2.35,17.58,0.709,4,0.000,0.044,2996,3609,1635
$GC,3045,0.90,232.3,5.2,4.7,325,3085,0.00,2.22,33.47,0.680,6,0.000,0.026,2998,2201,1453
$GC,3155,1.11,404.2,2.3,1.2,344,3213,0.25,0.00,54.22,0.654,2,0.056,0.000,3103,2199,986
$STATE,3213,end climb,SURFACE_DEPTH_REACHED
$STATE,3214,begin surface coast
$FINISH,2.0,1.017792
$STATE,3280,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3280,begin surface
$SM_CCo,3304,103.05,0.641,0,0,204,538.68
$SM_GC,2.38,0.00,0.00,103.05,0.000,0.000,0.641,19,2360,204,-8.51,0.28,538.68
$IRIDIUM_FIX,4748.51,-12224.57,031007,111138
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,50.3
$24V_AH,24.3,61.974
$10V_AH,10.7,31.339
$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,20.725,9.550,345.225,103.050,0.000,139.839,96.425,664.421,0.250,0.000,0.000,17.293,553.800,1861.829,459.027,708.052,1133.330,33.355,848.446,0.000,725.754,0.000,2.523
$DEVICE_MAMPS,203.255,45.253,795.379,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,261.891,283.719,618.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19149,366
$CFSIZE,260165632,238587904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,081120,4806.431,-12222.656,11,1.9,12,18.3