version: 66.03
glider: 128
mission: 2
dive: 567
start: 9 28 107 6 24 14
data:
$ID,128
$MISSION,2
$DIVE,567
$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,53
$T_MISSION,65
$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,350
$N_FILEKB,4
$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,-72431.977
$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,38
$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
$GPS1,061516,4805.682,-12221.813,16,2.3,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-67.1
$GPS2,062317,4805.606,-12221.810,13,3.3,32,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,-0.142
$KALMAN_X,-23038.5,-96.1,132.8,25157.7,-82.3
$KALMAN_Y,-14246.9,26.9,-72.5,10491.6,-111.8
$MHEAD_RNG_PITCHd_Wd,108.7,1505,-14.1,-7.547
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.96,-146.6,0.0,0.0,0,83,0.00,0.00,-53.58,0.000,2,0.000,0.000,17,2348,2319
$GC,88,-0.96,-146.6,3.2,-2.3,10,123,9.57,2.33,-20.08,0.000,4,0.199,0.046,2424,956,2999
$GC,430,-0.96,-146.6,39.6,-11.6,55,434,0.00,2.25,0.00,0.000,6,0.000,0.032,2418,2352,3003
$GC,628,-0.96,-146.6,61.5,-10.7,73,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2352,3003
$GC,946,-0.96,-146.6,96.5,-10.7,103,950,0.00,2.22,0.00,0.000,4,0.000,0.032,2418,955,3003
$GC,1003,-0.96,-146.6,102.8,-10.6,107,1009,0.00,2.22,0.00,0.000,6,0.000,0.032,2414,2351,3003
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1071,begin apogee
$GC,1079,-0.28,0.0,110.3,10.8,114,1196,0.73,0.00,111.30,0.745,6,0.113,0.000,2641,2175,2400
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1201,0.96,146.6,115.1,0.0,126,1318,1.23,0.00,111.43,0.699,6,0.080,0.000,3041,2175,1801
$GC,1637,0.96,146.6,81.4,8.7,168,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2175,1799
$GC,1956,0.96,146.6,53.2,9.1,198,1960,0.00,2.38,0.00,0.000,4,0.000,0.043,3041,3612,1799
$GC,2025,0.96,146.6,46.4,9.9,204,2029,0.00,2.20,0.00,0.000,6,0.000,0.027,3050,2212,1798
$GC,2223,0.96,146.6,28.8,8.6,222,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2210,1798
$GC,2419,0.96,146.6,12.3,8.3,248,2426,0.00,2.25,0.00,0.000,4,0.000,0.036,3059,801,1799
$GC,2450,0.96,146.6,9.6,8.5,253,2457,0.00,2.25,0.00,0.000,6,0.000,0.031,3059,2198,1799
$GC,2526,0.98,156.6,3.6,7.2,266,2539,0.00,2.30,7.97,0.745,4,0.000,0.036,3066,807,1760
$GC,2570,1.15,298.7,2.5,2.6,273,2583,0.12,2.22,8.27,0.730,2,0.064,0.030,3123,2209,1685
$STATE,2584,end climb,SURFACE_DEPTH_REACHED
$STATE,2584,begin surface coast
$FINISH,1.5,1.025075
$STATE,2589,end surface coast,CONTROL_FINISHED_OK
$STATE,2589,begin surface
$SM_CCo,2611,87.05,0.653,0,0,972,350.04
$SM_GC,2.52,0.00,0.00,87.05,0.000,0.000,0.653,19,2349,972,-8.51,-0.03,350.04
$IRIDIUM_FIX,4748.51,-12217.40,280907,101019
$TT8_MAMPS,0.026078
$HUMID,1897
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,49.6
$24V_AH,24.4,51.578
$10V_AH,10.7,26.141
$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,20.475,23.050,238.975,87.050,0.000,54.993,35.373,188.787,0.750,0.000,0.000,35.287,462.623,1336.231,368.100,583.652,446.289,33.346,666.648,0.000,576.101,0.000,5.488
$DEVICE_MAMPS,199.420,48.321,744.757,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.067,216.270,465.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12797,276
$CFSIZE,260165632,241987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,071023,4805.347,-12221.470,10,2.2,29,18.3