version: 66.03
glider: 128
mission: 2
dive: 627
start: 9 30 107 10 53 19
data:
$ID,128
$MISSION,2
$DIVE,627
$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,-73830.258
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,104039,4804.948,-12220.900,10,2.0,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.2
$GPS2,105223,4805.121,-12221.031,12,4.6,31,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.153
$KALMAN_X,-28307.7,-171.9,-102.6,31699.8,-423.3
$KALMAN_Y,-15803.7,-88.4,-74.3,11263.1,333.6
$MHEAD_RNG_PITCHd_Wd,122.0,228,-12.5,-5.970
$D_GRID,108
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-0.84,-120.2,0.0,0.0,0,98,0.00,0.00,-64.15,0.000,2,0.000,0.000,17,2348,2542
$GC,103,-0.87,-146.6,3.3,-1.8,12,133,9.80,2.30,-11.98,0.000,4,0.202,0.045,2450,951,3001
$GC,163,-0.87,-146.6,11.5,-12.4,22,169,0.00,2.30,0.00,0.000,6,0.000,0.032,2445,2363,3002
$GC,239,-0.87,-146.6,17.8,-7.9,35,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2363,3003
$GC,312,-0.87,-146.6,23.9,-8.4,44,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2363,3003
$GC,504,-0.87,-146.6,38.3,-4.2,62,508,0.00,2.28,0.00,0.000,4,0.000,0.032,2445,943,3004
$GC,730,-0.87,-146.6,49.5,-5.1,81,737,0.00,2.30,0.00,0.000,6,0.000,0.035,2443,2352,3004
$GC,929,-0.87,-146.6,60.2,-5.1,100,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2352,3004
$GC,1248,-0.87,-146.6,79.3,-7.3,130,1252,0.00,2.25,0.00,0.000,4,0.000,0.031,2443,937,3004
$GC,1318,-0.87,-146.6,85.0,-8.6,135,1324,0.00,2.28,0.00,0.000,6,0.000,0.035,2443,2353,3004
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1586,-0.28,0.0,109.0,9.6,160,1703,0.62,0.00,112.28,0.752,6,0.110,0.000,2640,2177,2400
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1707,0.87,146.6,113.6,0.0,172,1825,1.15,0.00,111.45,0.698,6,0.081,0.000,3013,2177,1802
$GC,2144,0.87,146.6,83.5,7.6,214,2148,0.00,2.40,0.00,0.000,4,0.000,0.046,3013,3607,1799
$GC,2179,0.87,146.6,80.4,8.8,217,2183,0.00,2.22,0.00,0.000,6,0.000,0.027,3023,2208,1799
$GC,2508,0.87,146.6,54.9,7.3,247,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2208,1799
$GC,2834,0.87,146.6,30.8,7.4,278,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2207,1799
$GC,3025,0.89,161.5,19.9,5.5,296,3044,0.00,2.25,12.95,0.825,4,0.000,0.036,3029,802,1741
$GC,3125,0.89,161.5,13.3,6.3,313,3131,0.00,2.25,0.00,0.000,6,0.000,0.031,3028,2200,1741
$GC,3201,0.89,161.5,8.0,6.7,326,3208,0.00,2.35,0.00,0.000,4,0.000,0.048,3029,3603,1740
$STATE,3505,end climb,SURFACE_DEPTH_REACHED
$STATE,3505,begin surface coast
$FINISH,1.6,1.012132
$STATE,3545,end surface coast,CONTROL_FINISHED_OK
$STATE,3545,begin surface
$SM_CCo,3570,109.25,0.670,0,0,972,350.04
$SM_GC,2.41,0.00,0.00,109.25,0.000,0.000,0.670,9,2349,972,-8.54,-0.03,350.04
$IRIDIUM_FIX,4748.51,-12217.40,300907,141424
$TT8_MAMPS,0.026845
$HUMID,1896
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,47.6
$24V_AH,24.4,56.119
$10V_AH,10.7,28.435
$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,20.175,27.400,236.675,109.250,0.000,79.662,56.890,280.121,0.500,0.000,0.000,33.394,627.213,1933.624,402.506,790.510,643.329,33.330,780.194,0.000,787.962,0.000,5.486
$DEVICE_MAMPS,202.488,47.554,824.525,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.262,302.013,653.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19120,387
$CFSIZE,260165632,240443392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,115556,4804.966,-12220.918,37,1.6,38,18.3