version: 66.03
glider: 128
mission: 2
dive: 622
start: 9 30 107 5 45 16
data:
$ID,128
$MISSION,2
$DIVE,622
$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,-73693.867
$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,67
$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
$GPS1,053945,4805.724,-12222.060,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-63.9
$GPS2,054415,4805.756,-12222.103,11,1.7,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,-0.109
$KALMAN_X,-26372.3,-294.3,177.7,28281.9,-250.7
$KALMAN_Y,-17255.4,594.8,-59.6,13196.2,-35.5
$MHEAD_RNG_PITCHd_Wd,101.9,1956,-11.0,-5.970
$D_GRID,105
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-64.18,0.000,2,0.000,0.000,17,2328,2534
$GC,99,-0.79,-146.6,3.1,-1.4,12,128,9.90,0.00,-13.52,0.000,6,0.202,0.000,2478,2327,2998
$GC,198,-0.79,-146.6,12.4,-8.7,29,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2326,3000
$GC,273,-0.79,-146.6,21.0,-8.2,41,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2327,3001
$GC,464,-0.79,-146.6,36.6,-7.7,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2327,3001
$GC,655,-0.79,-146.6,52.1,-7.7,77,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2328,3001
$GC,973,-0.79,-146.6,76.9,-8.1,107,977,0.00,2.17,0.00,0.000,4,0.000,0.032,2478,959,3001
$GC,1016,-0.79,-146.6,80.4,-8.3,110,1020,0.00,2.22,0.00,0.000,6,0.000,0.034,2473,2344,3001
$STATE,1317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1329,-0.28,0.0,105.2,8.3,138,1446,0.52,0.00,111.85,0.742,6,0.105,0.000,2641,2200,2399
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1450,0.79,146.6,109.7,0.0,150,1568,1.08,0.00,111.80,0.692,6,0.081,0.000,2988,2199,1801
$GC,1887,0.79,146.6,81.9,7.2,192,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2199,1799
$GC,2205,0.79,146.6,60.2,6.5,222,2209,0.00,2.33,0.00,0.000,4,0.000,0.045,2988,3608,1799
$GC,2241,0.79,146.6,57.5,7.5,225,2245,0.00,2.20,0.00,0.000,6,0.000,0.027,2997,2209,1799
$GC,2570,0.79,146.6,35.6,6.3,255,2574,0.00,2.25,0.00,0.000,4,0.000,0.035,3004,800,1799
$GC,2611,0.79,146.6,32.7,7.0,258,2615,0.00,2.25,0.00,0.000,6,0.000,0.031,3004,2208,1799
$GC,2810,0.79,146.6,19.4,7.3,276,2816,0.00,2.30,0.00,0.000,4,0.000,0.047,3004,3608,1799
$GC,2863,0.79,146.6,15.3,7.9,285,2870,0.00,2.22,0.00,0.000,6,0.000,0.027,3012,2189,1799
$GC,2939,0.81,166.0,10.7,5.4,298,2963,0.00,2.40,16.12,0.816,4,0.000,0.046,3012,3606,1722
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,1.6,1.012848
$STATE,3073,end surface coast,CONTROL_FINISHED_OK
$STATE,3073,begin surface
$SM_CCo,3097,89.07,0.664,0,0,972,350.04
$SM_GC,2.42,0.00,0.00,89.07,0.000,0.000,0.664,10,2340,972,-8.53,-0.28,350.04
$IRIDIUM_FIX,4748.51,-12220.12,300907,080838
$TT8_MAMPS,0.026845
$HUMID,1900
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,49.5
$24V_AH,24.4,55.732
$10V_AH,10.7,28.210
$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,19.900,22.550,239.775,89.075,0.000,29.610,26.121,98.298,0.500,0.000,0.000,12.795,522.509,1617.997,377.159,618.863,340.119,33.337,698.526,0.000,637.421,0.000,2.522
$DEVICE_MAMPS,201.721,46.787,816.088,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.610,254.816,541.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,321
$CFSIZE,260165632,240594944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,063932,4805.437,-12221.686,12,1.6,29,18.3