version: 66.03
glider: 128
mission: 2
dive: 619
start: 9 30 107 2 53 57
data:
$ID,128
$MISSION,2
$DIVE,619
$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,-73648.875
$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,38
$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
$GPS1,024839,4806.498,-12222.834,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.4
$GPS2,025257,4806.548,-12222.859,10,1.5,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,-0.178
$KALMAN_X,-25456.6,-244.2,-146.5,26703.5,-133.1
$KALMAN_Y,-17292.5,446.8,80.2,14713.1,245.8
$MHEAD_RNG_PITCHd_Wd,126.8,3676,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,90,0.00,0.00,-59.20,0.000,2,0.000,0.000,6,2357,2409
$GC,95,-0.79,-146.6,3.1,-1.2,11,130,9.95,2.30,-18.98,0.000,4,0.202,0.044,2480,947,2998
$GC,190,-0.79,-146.6,11.0,-8.8,27,197,0.00,2.30,0.00,0.000,6,0.000,0.033,2475,2359,3000
$GC,267,-0.79,-146.6,17.0,-7.5,40,273,0.00,2.33,0.00,0.000,4,0.000,0.050,2468,3751,3001
$GC,319,-0.79,-146.6,21.8,-9.0,47,325,0.00,2.20,0.00,0.000,6,0.000,0.026,2468,2333,3001
$GC,517,-0.79,-146.6,38.7,-8.6,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2333,3001
$GC,709,-0.79,-146.6,54.8,-8.4,84,713,0.00,2.17,0.00,0.000,4,0.000,0.032,2468,964,3001
$GC,772,-0.79,-146.6,60.6,-9.0,89,777,0.00,2.25,0.00,0.000,6,0.000,0.035,2468,2359,3001
$GC,1108,-0.79,-146.6,85.6,-7.2,120,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2359,3001
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1333,-0.28,0.0,103.4,8.2,141,1450,0.55,0.00,111.85,0.744,6,0.108,0.000,2642,2201,2400
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1451,begin climb
$GC,1455,0.79,146.6,107.5,0.0,153,1573,1.08,2.40,111.78,0.694,4,0.080,0.035,2997,819,1801
$GC,1603,0.79,146.6,100.5,7.0,167,1609,0.00,2.30,0.00,0.000,6,0.000,0.031,2997,2201,1801
$GC,1929,0.79,146.6,74.0,8.3,198,1933,0.00,2.35,0.00,0.000,4,0.000,0.046,2997,3612,1799
$GC,1985,0.79,146.6,69.1,8.7,202,1992,0.00,2.22,0.00,0.000,6,0.000,0.027,3006,2203,1799
$GC,2316,0.79,146.6,44.7,6.9,233,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,1799
$GC,2515,0.82,171.5,32.8,5.3,252,2537,0.00,0.00,20.33,0.785,6,0.000,0.000,3006,2202,1700
$GC,2726,0.82,171.7,20.5,6.0,272,2730,0.00,2.35,0.00,0.000,4,0.000,0.046,3006,3617,1699
$GC,2890,0.82,171.7,7.1,9.7,300,2897,0.00,2.28,0.00,0.000,6,0.000,0.027,3015,2198,1698
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2952,begin surface coast
$FINISH,1.6,1.014420
$STATE,2981,end surface coast,CONTROL_FINISHED_OK
$STATE,2981,begin surface
$SM_CCo,3004,89.05,0.676,0,0,971,350.04
$SM_GC,2.47,0.00,0.00,89.05,0.000,0.000,0.676,16,2365,971,-8.51,0.42,350.04
$IRIDIUM_FIX,4748.51,-12224.57,300907,050548
$TT8_MAMPS,0.026078
$HUMID,1905
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.7,46.9
$24V_AH,24.4,55.511
$10V_AH,10.7,28.087
$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,19.925,27.925,243.950,89.050,0.000,24.230,12.358,105.668,0.250,0.000,0.000,12.037,518.850,1516.620,389.316,618.204,326.181,33.346,714.965,0.000,637.673,0.000,2.518
$DEVICE_MAMPS,202.488,49.855,784.641,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.396,250.467,533.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15917,316
$CFSIZE,260165632,240676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,034641,4806.190,-12222.645,10,4.5,29,18.3