version: 66.03
glider: 128
mission: 2
dive: 628
start: 9 30 107 12 8 54
data:
$ID,128
$MISSION,2
$DIVE,628
$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,-73845.992
$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,50
$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
$GPS1,115556,4804.966,-12220.918,37,1.6,38,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.3
$GPS2,120757,4805.174,-12221.080,13,1.6,13,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.187
$KALMAN_X,-28774.6,-119.8,-207.4,32160.0,-328.3
$KALMAN_Y,-15088.3,-266.7,36.4,10712.3,458.5
$MHEAD_RNG_PITCHd_Wd,131.4,338,-11.0,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,84,0.00,0.00,-53.45,0.000,2,0.000,0.000,9,2350,2305
$GC,89,-0.79,-146.6,3.2,-1.6,10,124,9.88,0.00,-20.35,0.000,6,0.199,0.000,2480,2349,2999
$GC,193,-0.79,-146.6,11.6,-7.5,28,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2349,3001
$GC,269,-0.79,-146.6,17.8,-8.1,41,275,0.00,2.28,0.00,0.000,4,0.000,0.035,2480,939,3002
$GC,354,-0.79,-146.6,26.3,-10.8,50,361,0.00,2.30,0.00,0.000,6,0.000,0.035,2475,2352,3002
$GC,553,-0.79,-146.6,45.5,-8.7,69,557,0.00,2.33,0.00,0.000,4,0.000,0.050,2470,3755,3003
$GC,690,-0.79,-146.6,58.5,-9.3,81,694,0.00,2.20,0.00,0.000,6,0.000,0.026,2470,2324,3003
$GC,1021,-0.79,-146.6,87.7,-8.7,112,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2323,3003
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1270,-0.28,0.0,108.1,8.3,135,1388,0.55,0.00,112.07,0.743,6,0.111,0.000,2643,2206,2400
$STATE,1388,end apogee,CONTROL_FINISHED_OK
$STATE,1388,begin climb
$GC,1392,0.79,146.6,112.3,0.0,147,1511,1.08,2.40,111.15,0.694,4,0.084,0.035,2997,816,1802
$GC,1565,0.79,146.6,104.0,7.1,163,1570,0.00,2.30,0.00,0.000,6,0.000,0.031,2997,2204,1800
$GC,1895,0.79,146.6,80.7,7.1,193,1899,0.00,2.33,0.00,0.000,4,0.000,0.046,2996,3605,1799
$GC,1964,0.79,146.6,74.9,8.5,198,1970,0.00,2.20,0.00,0.000,6,0.000,0.027,3005,2206,1799
$GC,2293,0.79,146.6,50.6,6.8,229,2297,0.00,2.33,0.00,0.000,4,0.000,0.046,3005,3606,1799
$GC,2323,0.79,146.6,48.2,7.6,231,2327,0.00,2.22,0.00,0.000,6,0.000,0.027,3012,2192,1799
$GC,2521,0.79,146.6,34.4,6.6,249,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,1799
$GC,2712,0.79,146.6,21.2,7.0,267,2716,0.00,2.35,0.00,0.000,4,0.000,0.046,3013,3614,1799
$GC,2782,0.79,146.6,16.0,7.6,277,2788,0.00,2.22,0.00,0.000,6,0.000,0.027,3021,2196,1799
$GC,2858,0.79,146.6,11.0,6.7,290,2864,0.00,2.20,0.00,0.000,4,0.000,0.036,3028,806,1799
$GC,2962,0.86,202.9,5.6,4.4,308,3013,0.00,2.22,42.10,0.723,6,0.000,0.031,3029,2205,1571
$STATE,3051,end climb,SURFACE_DEPTH_REACHED
$STATE,3052,begin surface coast
$FINISH,1.5,1.024620
$STATE,3101,end surface coast,CONTROL_FINISHED_OK
$STATE,3101,begin surface
$SM_CCo,3123,79.55,0.666,0,0,973,350.04
$SM_GC,2.29,0.00,0.00,79.55,0.000,0.000,0.666,15,2361,973,-8.52,0.31,350.04
$IRIDIUM_FIX,4748.51,-12256.70,300907,161615
$TT8_MAMPS,0.026845
$HUMID,1875
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,83.1,43.3
$24V_AH,24.4,56.213
$10V_AH,10.7,28.483
$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,20.125,32.225,265.325,79.550,0.000,79.864,64.544,319.811,1.000,0.000,0.000,15.098,550.425,1641.636,370.251,698.537,676.763,33.338,747.113,0.000,709.509,0.000,6.927
$DEVICE_MAMPS,198.653,53.690,743.223,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,235.956,259.581,560.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,332
$CFSIZE,260165632,240418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,130328,4805.017,-12221.143,11,2.4,30,18.3