version: 66.03
glider: 128
mission: 2
dive: 630
start: 9 30 107 14 10 33
data:
$ID,128
$MISSION,2
$DIVE,630
$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,-73910.914
$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,55
$R_STBD_OVSHOOT,41
$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
$GPS1,140208,4804.925,-12221.145,24,1.3,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-64.9
$GPS2,140937,4804.978,-12221.198,13,1.0,29,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,-0.088
$KALMAN_X,-29983.3,30.5,-216.5,33082.8,-414.6
$KALMAN_Y,-14548.4,-243.6,366.0,9461.5,356.9
$MHEAD_RNG_PITCHd_Wd,97.5,249,-12.3,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.83,-123.3,0.0,0.0,0,98,0.00,0.00,-64.12,0.000,2,0.000,0.000,9,2360,2526
$GC,102,-0.86,-146.6,3.1,-1.4,12,132,9.88,2.28,-13.05,0.000,4,0.203,0.044,2457,952,3000
$GC,140,-0.86,-146.6,8.0,-10.0,18,147,0.00,2.28,0.00,0.000,6,0.000,0.035,2454,2344,3000
$GC,216,-0.86,-146.6,16.3,-11.6,31,223,0.00,2.38,0.00,0.000,4,0.000,0.049,2444,3749,3001
$GC,259,-0.86,-146.6,20.7,-10.4,37,265,0.00,2.20,0.00,0.000,6,0.000,0.026,2444,2333,3001
$GC,458,-0.86,-146.6,40.8,-9.9,56,462,0.00,2.17,0.00,0.000,4,0.000,0.032,2444,962,3002
$GC,578,-0.86,-146.6,53.2,-10.2,66,582,0.00,2.25,0.00,0.000,6,0.000,0.035,2444,2359,3002
$GC,909,-0.86,-146.6,87.2,-9.9,97,913,0.00,2.33,0.00,0.000,4,0.000,0.049,2434,3764,3002
$GC,995,-0.86,-146.6,96.1,-10.3,104,999,0.00,2.20,0.00,0.000,6,0.000,0.026,2434,2339,3002
$STATE,1116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1116,begin apogee
$GC,1125,-0.28,0.0,108.4,9.5,115,1242,0.68,0.00,111.88,0.746,6,0.114,0.000,2644,2204,2400
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1247,0.86,146.6,113.0,0.0,127,1362,1.12,0.00,111.43,0.696,6,0.084,0.000,3008,2204,1801
$GC,1679,0.86,146.6,85.1,7.6,168,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2204,1799
$GC,1998,0.86,146.6,61.4,6.8,198,2002,0.00,2.33,0.00,0.000,4,0.000,0.045,3008,3607,1799
$GC,2061,0.86,146.6,56.2,8.6,203,2067,0.00,2.20,0.00,0.000,6,0.000,0.027,3017,2205,1799
$GC,2390,0.86,146.6,32.9,7.5,234,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2204,1799
$GC,2589,0.86,146.6,18.6,6.5,254,2595,0.00,2.22,0.00,0.000,4,0.000,0.037,3021,811,1799
$GC,2781,0.88,163.3,7.2,5.4,287,2799,0.00,2.25,13.57,0.825,6,0.000,0.031,3021,2207,1734
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,1.4,1.012968
$STATE,2889,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2914,90.28,0.672,0,0,972,350.04
$SM_GC,2.43,0.00,0.00,90.28,0.000,0.000,0.672,7,2361,972,-8.54,0.31,350.04
$IRIDIUM_FIX,4748.51,-12217.40,300907,181814
$TT8_MAMPS,0.026078
$HUMID,1892
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,83.1,44.8
$24V_AH,24.4,56.366
$10V_AH,10.7,28.568
$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,20.150,27.450,236.875,90.275,0.000,59.478,35.711,149.464,0.750,0.000,0.000,30.498,508.108,1505.478,369.796,644.622,440.117,33.331,701.716,0.000,639.159,0.000,6.943
$DEVICE_MAMPS,203.255,50.622,824.525,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.740,238.585,516.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,306
$CFSIZE,260165632,240365568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,150127,4804.786,-12220.892,9,1.5,9,18.3