version: 66.03
glider: 128
mission: 2
dive: 617
start: 9 30 107 0 57 18
data:
$ID,128
$MISSION,2
$DIVE,617
$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,-73622.961
$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,43
$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
$GPS1,004545,4806.794,-12223.031,10,1.4,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.1
$GPS2,005621,4806.954,-12223.143,12,1.4,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.187
$KALMAN_X,-25100.2,-103.2,-250.4,25965.0,-195.5
$KALMAN_Y,-17373.0,77.8,-2.1,15987.4,392.4
$MHEAD_RNG_PITCHd_Wd,131.3,4486,-11.0,-5.970
$D_GRID,101
$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,-146.6,0.0,0.0,0,90,0.00,0.00,-58.88,0.000,2,0.000,0.000,7,2363,2408
$GC,94,-0.79,-146.6,3.0,-1.3,11,130,9.90,2.30,-19.10,0.000,4,0.199,0.044,2481,948,2999
$GC,172,-0.79,-146.6,9.1,-8.3,24,178,0.00,2.28,0.00,0.000,6,0.000,0.032,2474,2353,3000
$GC,248,-0.79,-146.6,15.6,-8.3,37,254,0.00,2.35,0.00,0.000,4,0.000,0.049,2468,3757,3000
$GC,279,-0.79,-146.6,18.2,-8.2,42,286,0.00,2.22,0.00,0.000,6,0.000,0.026,2468,2331,3001
$GC,358,-0.79,-146.6,24.9,-8.5,51,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2332,3001
$GC,549,-0.79,-146.6,42.0,-9.2,69,553,0.00,2.17,0.00,0.000,4,0.000,0.032,2468,964,3002
$GC,617,-0.79,-146.6,48.8,-9.7,74,623,0.00,2.25,0.00,0.000,6,0.000,0.035,2468,2358,3002
$GC,815,-0.79,-146.6,66.8,-9.3,93,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2358,3002
$GC,1134,-0.79,-146.6,94.7,-8.9,123,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2358,3001
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1214,-0.28,0.0,101.3,9.0,130,1331,0.55,0.00,111.80,0.742,6,0.107,0.000,2643,2201,2399
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1336,0.79,146.6,105.8,0.0,142,1453,1.08,0.00,111.62,0.693,6,0.080,0.000,2991,2200,1802
$GC,1772,0.79,146.6,78.2,7.0,184,1776,0.00,2.35,0.00,0.000,4,0.000,0.045,2991,3607,1799
$GC,1841,0.79,146.6,72.8,7.8,190,1845,0.00,2.22,0.00,0.000,6,0.000,0.027,3000,2209,1799
$GC,2170,0.79,146.6,48.9,7.4,220,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2207,1799
$GC,2369,0.79,146.6,34.9,6.8,239,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2207,1800
$GC,2560,0.79,146.6,21.7,7.0,257,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,1799
$GC,2762,0.79,146.6,7.4,6.9,290,2769,0.00,2.33,0.00,0.000,4,0.000,0.046,3000,3615,1799
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,1.6,1.013982
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2899,100.12,0.677,0,0,973,350.04
$SM_GC,2.42,0.00,0.00,100.12,0.000,0.000,0.677,13,2328,973,-8.52,-0.62,350.04
$IRIDIUM_FIX,4751.72,-12221.84,300907,040444
$TT8_MAMPS,0.026845
$HUMID,1890
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.5,45.2
$24V_AH,24.4,55.355
$10V_AH,10.7,28.002
$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,20.050,22.700,223.425,100.125,0.000,90.630,111.694,189.526,0.250,0.000,0.000,14.220,510.220,1578.740,380.956,604.532,577.399,33.342,690.818,0.000,620.009,0.000,2.514
$DEVICE_MAMPS,199.420,49.088,742.456,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.994,240.938,523.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16026,310
$CFSIZE,260165632,240730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,014838,4806.770,-12223.006,40,1.4,40,18.3