version: 66.03
glider: 128
mission: 2
dive: 590
start: 9 29 107 1 31 21
data:
$ID,128
$MISSION,2
$DIVE,590
$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,-72955.695
$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,51
$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
$GPS1,012605,4806.917,-12222.847,12,4.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-65.0
$GPS2,013020,4806.878,-12222.839,8,1.4,13,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,-0.197
$KALMAN_X,-24170.6,-51.5,-77.7,25181.8,-73.6
$KALMAN_Y,-18463.2,-82.8,179.4,16922.5,105.5
$MHEAD_RNG_PITCHd_Wd,128.2,4156,-14.1,-7.547
$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,24,begin dive
$GC,28,-0.96,-146.6,0.0,0.0,0,94,0.00,0.00,-64.12,0.000,2,0.000,0.000,14,2373,2540
$GC,98,-0.96,-146.6,3.1,-1.9,12,128,9.70,2.33,-12.90,0.000,4,0.203,0.044,2423,943,2999
$GC,431,-0.96,-146.6,42.5,-11.6,54,438,0.00,2.28,0.00,0.000,6,0.000,0.033,2420,2336,3001
$GC,630,-0.96,-146.6,64.7,-10.6,73,634,0.00,2.22,0.00,0.000,4,0.000,0.033,2420,946,3002
$GC,784,-0.96,-146.6,81.4,-10.7,86,788,0.00,2.28,0.00,0.000,6,0.000,0.034,2420,2355,3002
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1008,-0.28,0.0,105.4,10.6,106,1125,0.70,0.00,111.65,0.739,6,0.113,0.000,2640,2180,2399
$STATE,1126,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1130,0.96,146.6,110.4,0.0,118,1247,1.25,0.00,111.55,0.698,6,0.081,0.000,3047,2180,1801
$GC,1566,0.96,146.6,76.2,9.2,160,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2180,1799
$GC,1885,0.96,146.6,48.4,8.5,190,1889,0.00,2.35,0.00,0.000,4,0.000,0.043,3046,3610,1798
$GC,1953,0.96,146.6,41.9,10.0,196,1957,0.00,2.20,0.00,0.000,6,0.000,0.027,3055,2216,1798
$GC,2152,0.96,146.6,24.5,8.6,214,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2214,1799
$GC,2352,0.96,146.6,7.7,8.3,244,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2214,1799
$GC,2427,1.04,206.7,2.9,5.5,257,2456,0.00,0.00,26.95,0.725,2,0.000,0.000,3055,2213,1565
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,1.6,1.024929
$STATE,2519,end surface coast,CONTROL_FINISHED_OK
$STATE,2519,begin surface
$SM_CCo,2541,69.35,0.669,0,0,973,350.04
$SM_GC,2.54,0.00,0.00,69.35,0.000,0.000,0.669,23,2361,973,-8.49,0.31,350.04
$IRIDIUM_FIX,4751.72,-12225.30,290907,040454
$TT8_MAMPS,0.026845
$HUMID,1903
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,47.5
$24V_AH,24.4,53.295
$10V_AH,10.7,26.977
$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,20.350,14.100,250.150,69.350,0.000,29.924,12.470,97.784,0.250,0.000,0.000,15.209,451.062,1214.118,352.271,572.104,297.187,33.338,651.785,0.000,587.443,0.000,2.517
$DEVICE_MAMPS,203.255,43.719,739.388,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,197.203,212.115,460.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12799,273
$CFSIZE,260165632,241426432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,021556,4806.595,-12222.580,8,1.4,25,18.3