version: 66.03
glider: 128
mission: 2
dive: 616
start: 9 29 107 23 53 36
data:
$ID,128
$MISSION,2
$DIVE,616
$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,-73608.109
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,234757,4806.920,-12223.058,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-64.5
$GPS2,235237,4806.984,-12223.106,24,1.4,24,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.184
$KALMAN_X,-24563.4,-138.9,-318.2,25573.2,-137.5
$KALMAN_Y,-17994.2,37.3,87.1,16618.1,270.2
$MHEAD_RNG_PITCHd_Wd,129.7,4505,-11.0,-5.970
$D_GRID,103
$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,-64.22,0.000,2,0.000,0.000,15,2326,2538
$GC,99,-0.79,-146.6,3.1,-1.3,12,129,9.75,2.20,-13.50,0.000,4,0.196,0.044,2481,959,2999
$GC,171,-0.79,-146.6,10.2,-8.7,24,177,0.00,2.28,0.00,0.000,6,0.000,0.034,2481,2355,3001
$GC,247,-0.79,-146.6,16.2,-8.3,37,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2355,3001
$GC,326,-0.79,-146.6,23.1,-8.6,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2355,3001
$GC,517,-0.79,-146.6,37.9,-7.4,66,521,0.00,2.22,0.00,0.000,4,0.000,0.032,2481,957,3002
$GC,541,-0.79,-146.6,39.7,-7.5,68,545,0.00,2.25,0.00,0.000,6,0.000,0.033,2481,2353,3002
$GC,745,-0.79,-146.6,56.7,-8.4,87,749,0.00,2.33,0.00,0.000,4,0.000,0.050,2475,3755,3001
$GC,809,-0.79,-146.6,62.5,-9.1,92,813,0.00,2.20,0.00,0.000,6,0.000,0.026,2474,2333,3002
$GC,1135,-0.79,-146.6,90.2,-7.7,122,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2332,3002
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1310,-0.28,0.0,103.4,8.1,138,1427,0.55,0.00,111.85,0.744,6,0.111,0.000,2647,2198,2399
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1431,0.79,146.6,107.0,0.0,150,1549,1.05,0.00,111.60,0.695,6,0.081,0.000,2988,2197,1802
$GC,1868,0.79,146.6,78.2,7.6,192,1872,0.00,2.38,0.00,0.000,4,0.000,0.045,2987,3612,1799
$GC,1959,0.79,146.6,70.2,8.8,200,1963,0.00,2.22,0.00,0.000,6,0.000,0.027,2997,2206,1799
$GC,2288,0.79,146.6,45.7,7.4,230,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2205,1799
$GC,2487,0.79,146.6,31.7,7.2,249,2491,0.00,2.33,0.00,0.000,4,0.000,0.045,2996,3614,1799
$GC,2526,0.79,146.6,28.7,7.8,252,2532,0.00,2.22,0.00,0.000,6,0.000,0.027,3005,2196,1799
$GC,2728,0.79,146.6,14.6,7.0,277,2735,0.00,2.25,0.00,0.000,4,0.000,0.036,3013,805,1799
$STATE,2918,end climb,SURFACE_DEPTH_REACHED
$STATE,2919,begin surface coast
$FINISH,1.6,1.003281
$STATE,2952,end surface coast,CONTROL_FINISHED_OK
$STATE,2952,begin surface
$SM_CCo,2976,102.20,0.674,0,0,972,350.04
$SM_GC,2.41,0.00,0.00,102.20,0.000,0.000,0.674,7,2363,972,-8.54,0.37,350.04
$IRIDIUM_FIX,4748.51,-12224.57,300907,020241
$TT8_MAMPS,0.026845
$HUMID,1906
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.9,48.2
$24V_AH,24.4,55.271
$10V_AH,10.7,27.959
$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,19.900,27.550,223.450,102.200,0.000,28.076,21.100,98.810,0.250,0.000,0.000,26.471,522.600,1499.801,382.551,638.126,333.467,33.336,706.041,0.000,640.094,0.000,2.516
$DEVICE_MAMPS,195.585,49.855,743.990,674.193,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.550,250.875,533.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15898,316
$CFSIZE,260165632,240762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,004545,4806.794,-12223.031,10,1.4,10,18.3