version: 66.03
glider: 128
mission: 2
dive: 620
start: 9 30 107 3 52 2
data:
$ID,128
$MISSION,2
$DIVE,620
$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,-73666.078
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,034641,4806.190,-12222.645,10,4.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-62.4
$GPS2,035102,4806.236,-12222.680,10,1.2,15,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.148
$KALMAN_X,-25720.0,-288.9,-41.6,27130.6,-91.9
$KALMAN_Y,-17466.4,617.2,119.8,14096.7,6.4
$MHEAD_RNG_PITCHd_Wd,114.5,3092,-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,29,-0.79,-146.6,0.0,0.0,0,90,0.00,0.00,-58.85,0.000,2,0.000,0.000,16,2365,2414
$GC,94,-0.79,-146.6,3.1,-1.3,11,129,9.93,2.30,-17.95,0.000,4,0.202,0.044,2483,950,3000
$GC,165,-0.79,-146.6,9.6,-8.9,23,172,0.00,2.28,0.00,0.000,6,0.000,0.033,2482,2347,3001
$GC,242,-0.79,-146.6,15.6,-7.0,36,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2348,3002
$GC,322,-0.79,-146.6,22.5,-9.3,48,326,0.00,2.35,0.00,0.000,4,0.000,0.049,2476,3754,3002
$GC,453,-0.79,-146.6,34.6,-9.1,59,457,0.00,2.20,0.00,0.000,6,0.000,0.026,2477,2333,3002
$GC,657,-0.79,-146.6,53.0,-9.3,78,661,0.00,2.17,0.00,0.000,4,0.000,0.032,2476,967,3003
$GC,769,-0.79,-146.6,63.3,-8.8,87,775,0.00,2.22,0.00,0.000,6,0.000,0.034,2475,2350,3003
$GC,1095,-0.79,-146.6,91.1,-8.8,118,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2350,3003
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1228,-0.28,0.0,101.8,8.4,130,1345,0.52,0.00,112.20,0.747,6,0.107,0.000,2642,2194,2400
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1350,0.79,146.6,105.7,0.0,142,1468,1.08,2.47,111.32,0.694,4,0.081,0.044,2992,3604,1801
$GC,1499,0.79,146.6,98.0,8.3,155,1506,0.00,2.28,0.00,0.000,6,0.000,0.027,3000,2211,1800
$GC,1829,0.79,146.6,72.7,7.4,186,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2210,1799
$GC,2155,0.79,146.6,51.5,6.0,217,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2210,1799
$GC,2473,0.79,146.6,31.7,6.2,247,2477,0.00,2.22,0.00,0.000,4,0.000,0.035,3008,808,1799
$GC,2524,0.79,148.1,28.7,5.9,251,2530,0.00,2.22,0.00,0.000,6,0.000,0.031,3008,2207,1799
$GC,2726,0.81,162.2,15.7,5.6,276,2745,0.00,2.35,13.48,0.827,4,0.000,0.046,3008,3599,1738
$STATE,2932,end climb,SURFACE_DEPTH_REACHED
$STATE,2932,begin surface coast
$FINISH,1.5,1.018357
$STATE,2965,end surface coast,CONTROL_FINISHED_OK
$STATE,2965,begin surface
$SM_CCo,2989,94.65,0.669,0,0,973,350.04
$SM_GC,2.51,0.00,0.00,94.65,0.000,0.000,0.669,10,2335,973,-8.53,-0.40,350.04
$IRIDIUM_FIX,4748.51,-12224.57,300907,060635
$TT8_MAMPS,0.026845
$HUMID,1894
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.1,21.9
$24V_AH,24.4,55.586
$10V_AH,10.7,28.129
$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,20.025,27.275,237.000,94.650,0.000,28.855,17.141,96.326,2.000,0.000,0.000,16.568,528.768,1466.362,372.164,671.927,324.329,33.345,715.738,0.000,672.967,0.000,15.804
$DEVICE_MAMPS,201.721,49.088,826.826,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.581,245.784,536.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15937,318
$CFSIZE,260165632,240648192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,044437,4805.958,-12222.395,31,1.2,31,18.3