version: 66.03
glider: 128
mission: 2
dive: 629
start: 9 30 107 13 9 22
data:
$ID,128
$MISSION,2
$DIVE,629
$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,-73879.789
$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,56
$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
$GPS1,130328,4805.017,-12221.143,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-66.1
$GPS2,130823,4805.080,-12221.206,11,2.9,30,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.158
$KALMAN_X,-29370.1,-37.8,-237.1,32549.4,-336.0
$KALMAN_Y,-14734.5,-297.7,219.4,10035.8,456.1
$MHEAD_RNG_PITCHd_Wd,118.6,295,-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,24,begin dive
$GC,28,-0.79,-146.6,0.0,0.0,0,79,0.00,0.00,-48.05,0.000,2,0.000,0.000,15,2361,2175
$GC,83,-0.79,-146.6,3.0,-1.4,9,130,9.88,2.35,-27.77,0.000,4,0.201,0.046,2481,948,3000
$GC,143,-0.79,-146.6,6.9,-6.1,19,150,0.00,2.30,0.00,0.000,6,0.000,0.034,2473,2339,3001
$GC,220,-0.79,-146.6,14.0,-9.3,32,226,0.00,2.35,0.00,0.000,4,0.000,0.048,2463,3752,3002
$GC,251,-0.79,-146.6,16.8,-8.8,37,258,0.00,2.25,0.00,0.000,6,0.000,0.025,2463,2325,3001
$GC,330,-0.79,-146.6,24.5,-10.0,47,334,0.00,2.15,0.00,0.000,4,0.000,0.032,2463,973,3002
$GC,389,-0.79,-146.6,30.4,-10.2,52,393,0.00,2.25,0.00,0.000,6,0.000,0.034,2460,2362,3002
$GC,588,-0.79,-146.6,50.8,-10.1,70,591,0.00,2.22,0.00,0.000,4,0.000,0.031,2460,974,3002
$GC,634,-0.79,-146.6,55.7,-10.4,73,640,0.00,2.22,0.00,0.000,6,0.000,0.034,2457,2355,3002
$GC,965,-0.79,-146.6,85.9,-8.9,104,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2356,3002
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1222,-0.28,0.0,108.5,9.1,128,1339,0.60,0.00,111.90,0.746,6,0.109,0.000,2645,2198,2400
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1343,0.79,146.6,112.9,0.0,140,1462,1.05,2.38,110.95,0.694,4,0.079,0.035,2997,817,1801
$GC,1509,0.79,146.6,104.2,7.2,155,1515,0.00,2.30,0.00,0.000,6,0.000,0.031,2996,2208,1801
$GC,1840,0.79,146.6,79.0,7.9,186,1844,0.00,2.33,0.00,0.000,4,0.000,0.046,2997,3606,1799
$GC,1885,0.79,146.6,74.6,8.8,189,1891,0.00,2.20,0.00,0.000,6,0.000,0.027,3005,2205,1799
$GC,2214,0.79,146.6,48.3,8.8,220,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2205,1799
$GC,2412,0.79,146.6,33.5,6.8,239,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2205,1799
$GC,2604,0.80,158.2,21.1,5.7,257,2619,0.00,2.33,10.57,0.794,4,0.000,0.045,3005,3606,1754
$GC,2672,0.80,158.2,16.7,6.7,266,2678,0.00,2.22,0.00,0.000,6,0.000,0.027,3013,2195,1753
$GC,2748,0.80,158.2,11.8,6.2,279,2755,0.00,2.25,0.00,0.000,4,0.000,0.036,3013,807,1753
$STATE,2937,end climb,SURFACE_DEPTH_REACHED
$STATE,2937,begin surface coast
$FINISH,1.5,1.011187
$STATE,2976,end surface coast,CONTROL_FINISHED_OK
$STATE,2976,begin surface
$SM_CCo,3001,100.30,0.670,0,0,972,350.04
$SM_GC,2.42,0.00,0.00,100.30,0.000,0.000,0.670,9,2360,972,-8.54,0.28,350.04
$IRIDIUM_FIX,4748.51,-12201.35,300907,161645
$TT8_MAMPS,0.026078
$HUMID,1888
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,83.0,45.4
$24V_AH,24.4,56.288
$10V_AH,10.7,28.526
$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,20.050,36.825,233.425,100.300,0.000,28.050,15.771,111.321,0.750,0.000,0.000,33.168,531.946,1468.120,382.294,672.539,357.947,33.333,736.578,0.000,664.142,0.000,6.926
$DEVICE_MAMPS,200.954,48.321,793.845,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.631,250.332,538.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15977,319
$CFSIZE,260165632,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,140208,4804.925,-12221.145,24,1.3,24,18.3