version: 66.03
glider: 128
mission: 2
dive: 591
start: 9 29 107 2 21 20
data:
$ID,128
$MISSION,2
$DIVE,591
$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,-72981.945
$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,55
$R_STBD_OVSHOOT,45
$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
$GPS1,021556,4806.595,-12222.580,8,1.4,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.3
$GPS2,022020,4806.560,-12222.562,13,1.4,24,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.184
$KALMAN_X,-24145.4,-85.2,-92.3,25546.0,-22.4
$KALMAN_Y,-18732.2,77.4,249.9,16370.9,-70.7
$MHEAD_RNG_PITCHd_Wd,122.9,3476,-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,23,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,-64.00,0.000,2,0.000,0.000,23,2361,2540
$GC,98,-0.96,-146.6,3.1,-1.5,12,128,9.65,2.30,-13.40,0.000,4,0.204,0.044,2421,948,2998
$GC,433,-0.96,-146.6,41.5,-11.6,55,439,0.00,2.25,0.00,0.000,6,0.000,0.032,2414,2342,3001
$GC,631,-0.96,-146.6,63.8,-11.0,74,635,0.00,2.22,0.00,0.000,4,0.000,0.032,2414,949,3001
$GC,757,-0.96,-146.6,78.2,-11.4,84,763,0.00,2.25,0.00,0.000,6,0.000,0.031,2406,2355,3001
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,995,begin apogee
$GC,1003,-0.28,0.0,105.3,11.0,107,1120,0.75,0.00,111.50,0.740,6,0.115,0.000,2640,2176,2400
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1125,0.96,146.6,109.9,0.0,119,1242,1.25,0.00,111.70,0.699,6,0.081,0.000,3045,2176,1801
$GC,1561,0.96,146.6,74.1,9.1,161,1565,0.00,2.40,0.00,0.000,4,0.000,0.044,3045,3610,1799
$GC,1597,0.96,146.6,70.7,9.6,164,1601,0.00,2.22,0.00,0.000,6,0.000,0.027,3054,2211,1799
$GC,1925,0.96,146.6,40.2,9.0,194,1929,0.00,2.30,0.00,0.000,4,0.000,0.043,3054,3603,1799
$GC,1959,0.96,146.6,36.7,9.5,196,1965,0.00,2.20,0.00,0.000,6,0.000,0.027,3065,2200,1799
$GC,2158,0.96,146.6,19.4,8.2,215,2164,0.00,2.22,0.00,0.000,4,0.000,0.037,3072,808,1799
$GC,2189,0.96,146.6,16.7,8.5,220,2195,0.00,2.22,0.00,0.000,6,0.000,0.031,3072,2203,1799
$GC,2264,0.96,146.6,10.3,7.9,233,2271,0.00,2.30,0.00,0.000,4,0.000,0.044,3072,3608,1799
$GC,2340,0.96,146.6,4.7,7.8,246,2347,0.00,2.25,0.00,0.000,6,0.000,0.027,3080,2197,1799
$STATE,2396,end climb,SURFACE_DEPTH_REACHED
$STATE,2396,begin surface coast
$FINISH,1.6,1.002567
$STATE,2465,end surface coast,CONTROL_FINISHED_OK
$STATE,2465,begin surface
$SM_CCo,2487,106.65,0.672,0,0,972,350.04
$SM_GC,2.44,0.00,0.00,106.65,0.000,0.000,0.672,20,2356,972,-8.50,0.17,350.04
$IRIDIUM_FIX,4748.51,-12224.57,290907,050502
$TT8_MAMPS,0.026845
$HUMID,1892
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,56.0
$24V_AH,24.4,53.369
$10V_AH,10.7,27.013
$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,20.350,27.625,223.200,106.650,0.000,22.735,12.627,103.360,0.500,0.000,0.000,25.628,451.851,1168.472,386.572,569.288,301.990,33.341,684.349,0.000,571.602,0.000,5.507
$DEVICE_MAMPS,204.022,45.253,740.155,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,193.262,209.215,452.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12820,268
$CFSIZE,260165632,241401856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,030546,4806.273,-12222.241,12,2.1,31,18.3