version: 66.03
glider: 128
mission: 2
dive: 615
start: 9 29 107 22 56 13
data:
$ID,128
$MISSION,2
$DIVE,615
$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,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,-73581.008
$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,52
$R_STBD_OVSHOOT,39
$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
$GPS1,225037,4807.056,-12223.216,36,1.6,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-62.6
$GPS2,225514,4807.120,-12223.242,27,1.6,27,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.177
$KALMAN_X,-24395.1,-103.9,-261.7,25144.3,-190.0
$KALMAN_Y,-18254.5,-67.6,104.4,17219.6,262.9
$MHEAD_RNG_PITCHd_Wd,126.2,4808,-11.0,-5.970
$D_GRID,102
$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,-0.79,-146.6,0.0,0.0,0,95,0.00,0.00,-64.12,0.000,2,0.000,0.000,16,2342,2534
$GC,99,-0.79,-146.6,3.1,-1.3,12,129,9.90,2.28,-13.45,0.000,4,0.201,0.045,2482,939,3000
$GC,182,-0.79,-146.6,11.6,-9.2,26,189,0.00,2.33,0.00,0.000,6,0.000,0.034,2477,2346,3001
$GC,259,-0.79,-146.6,18.1,-8.6,39,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2346,3001
$GC,336,-0.79,-146.6,24.8,-8.5,48,340,0.00,2.25,0.00,0.000,4,0.000,0.031,2477,941,3002
$GC,364,-0.79,-146.6,27.3,-9.1,50,370,0.00,2.30,0.00,0.000,6,0.000,0.033,2476,2361,3002
$GC,562,-0.79,-146.6,44.5,-8.8,69,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2362,3002
$GC,754,-0.79,-146.6,61.3,-8.7,87,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2362,3003
$GC,1071,-0.79,-146.6,88.7,-8.5,117,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2362,3002
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1236,-0.28,0.0,102.2,9.0,132,1353,0.52,0.00,111.88,0.739,6,0.104,0.000,2643,2174,2400
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1358,0.79,146.6,107.0,0.0,144,1475,1.05,0.00,111.62,0.695,6,0.079,0.000,2987,2173,1801
$GC,1794,0.79,146.6,81.1,6.9,186,1798,0.00,2.40,0.00,0.000,4,0.000,0.045,2987,3607,1799
$GC,1912,0.79,146.6,72.1,7.6,196,1918,0.00,2.22,0.00,0.000,6,0.000,0.027,2995,2199,1799
$GC,2241,0.79,146.6,48.9,7.2,227,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2198,1799
$GC,2440,0.79,146.6,35.4,6.4,246,2444,0.00,2.35,0.00,0.000,4,0.000,0.045,2995,3617,1799
$GC,2503,0.79,146.6,30.6,7.5,251,2507,0.00,2.22,0.00,0.000,6,0.000,0.027,3004,2201,1799
$GC,2704,0.79,146.6,16.6,6.9,273,2711,0.00,2.25,0.00,0.000,4,0.000,0.037,3012,807,1799
$GC,2769,0.79,146.6,12.2,6.9,284,2776,0.00,2.22,0.00,0.000,6,0.000,0.031,3011,2206,1800
$GC,2845,0.79,146.6,6.4,6.9,297,2851,0.00,2.30,0.00,0.000,4,0.000,0.046,3012,3608,1799
$STATE,2901,end climb,SURFACE_DEPTH_REACHED
$STATE,2901,begin surface coast
$FINISH,1.6,1.026217
$STATE,2930,end surface coast,CONTROL_FINISHED_OK
$STATE,2930,begin surface
$SM_CCo,2954,99.82,0.678,0,0,972,350.04
$SM_GC,2.31,0.00,0.00,99.82,0.000,0.000,0.678,15,2326,972,-8.51,-0.68,350.04
$IRIDIUM_FIX,4748.51,-12219.12,300907,010110
$TT8_MAMPS,0.026078
$HUMID,1894
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,77.7,43.9
$24V_AH,24.4,55.199
$10V_AH,10.7,27.918
$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,19.925,27.400,223.500,99.825,0.000,30.581,15.228,98.896,0.250,0.000,0.000,29.247,512.429,1487.314,385.836,635.037,328.133,33.335,707.512,0.000,635.556,0.000,2.512
$DEVICE_MAMPS,200.954,46.020,739.388,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.803,242.639,526.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15978,312
$CFSIZE,260165632,240791552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,234757,4806.920,-12223.058,10,1.8,10,18.3