version: 66.03
glider: 128
mission: 2
dive: 621
start: 9 30 107 4 49 57
data:
$ID,128
$MISSION,2
$DIVE,621
$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,-73680.445
$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,68
$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
$GPS1,044437,4805.958,-12222.395,31,1.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-64.4
$GPS2,044857,4805.995,-12222.438,12,1.2,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,-0.119
$KALMAN_X,-26110.5,-273.1,96.8,27667.9,-174.9
$KALMAN_Y,-17347.2,627.0,39.2,13597.8,-54.1
$MHEAD_RNG_PITCHd_Wd,104.9,2561,-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,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,-58.67,0.000,2,0.000,0.000,10,2335,2409
$GC,94,-0.79,-146.6,3.0,-1.4,11,130,9.98,2.22,-19.02,0.000,4,0.203,0.044,2479,960,2998
$GC,182,-0.79,-146.6,9.5,-7.5,26,189,0.00,2.28,0.00,0.000,6,0.000,0.034,2472,2342,3000
$GC,259,-0.79,-146.6,18.2,-12.6,39,265,0.00,2.38,0.00,0.000,4,0.000,0.049,2464,3762,3000
$GC,344,-0.79,-146.6,25.7,-10.0,48,351,0.00,2.20,0.00,0.000,6,0.000,0.026,2464,2342,3000
$GC,543,-0.79,-146.6,44.3,-9.3,67,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2342,3001
$GC,734,-0.79,-146.6,62.7,-9.7,85,738,0.00,2.17,0.00,0.000,4,0.000,0.032,2464,959,3001
$GC,826,-0.79,-146.6,71.9,-9.7,93,830,0.00,2.25,0.00,0.000,6,0.000,0.035,2464,2351,3001
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1161,-0.28,0.0,101.9,9.4,123,1278,0.57,0.00,111.78,0.740,6,0.108,0.000,2645,2208,2399
$STATE,1278,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1282,0.79,146.6,107.1,0.0,135,1399,1.05,0.00,111.62,0.694,6,0.081,0.000,2987,2208,1801
$GC,1719,0.79,146.6,80.4,7.1,177,1722,0.00,2.35,0.00,0.000,4,0.000,0.045,2987,3613,1799
$GC,1777,0.79,146.6,75.8,8.1,182,1781,0.00,2.22,0.00,0.000,6,0.000,0.027,2996,2210,1799
$GC,2106,0.79,146.6,52.0,7.2,212,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2208,1799
$GC,2432,0.79,146.6,26.0,7.4,243,2436,0.00,2.22,0.00,0.000,4,0.000,0.036,2999,807,1799
$GC,2471,0.79,146.6,23.4,6.2,246,2477,0.00,2.22,0.00,0.000,6,0.000,0.031,2999,2209,1799
$GC,2681,0.79,146.6,9.3,7.2,278,2687,0.00,2.30,0.00,0.000,4,0.000,0.047,2999,3593,1799
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,1.6,1.026231
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2835,101.93,0.680,0,0,972,350.04
$SM_GC,2.43,0.00,0.00,101.93,0.000,0.000,0.680,17,2327,972,-8.51,-0.65,350.04
$IRIDIUM_FIX,4751.72,-12214.67,300907,070745
$TT8_MAMPS,0.026078
$HUMID,1898
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,76.5,48.8
$24V_AH,24.4,55.658
$10V_AH,10.7,28.169
$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,20.000,27.000,223.400,101.925,0.000,28.079,17.297,97.880,0.500,0.000,0.000,13.735,496.549,1416.046,381.554,601.314,320.341,33.337,693.318,0.000,614.689,0.000,2.517
$DEVICE_MAMPS,203.255,49.088,740.155,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.579,236.437,508.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15999,301
$CFSIZE,260165632,240619520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,053945,4805.724,-12222.060,10,1.7,10,18.3