version: 66.03
glider: 128
mission: 2
dive: 640
start: 10 1 107 1 39 49
data:
$ID,128
$MISSION,2
$DIVE,640
$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,400
$N_FILEKB,8
$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,-74288.664
$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,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
$GPS1,013437,4808.036,-12224.125,39,1.1,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-66.1
$GPS2,013851,4808.051,-12224.131,12,1.3,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.163
$KALMAN_X,-31394.6,71.7,22.2,30588.2,70.8
$KALMAN_Y,-13529.5,320.3,295.0,13639.4,-260.9
$MHEAD_RNG_PITCHd_Wd,120.5,6852,-11.0,-5.970
$D_GRID,103
$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,-0.79,-146.6,0.0,0.0,0,109,0.00,0.00,-75.45,0.000,2,0.000,0.000,14,2362,2608
$GC,114,-0.79,-146.6,3.1,-1.6,14,139,9.77,2.35,-9.85,0.000,4,0.197,0.044,2481,951,3000
$GC,169,-0.79,-146.6,11.9,-14.7,23,176,0.00,2.28,0.00,0.000,6,0.000,0.034,2474,2341,3003
$GC,246,-0.79,-146.6,19.5,-9.5,36,252,0.00,2.38,0.00,0.000,4,0.000,0.049,2465,3747,3003
$GC,294,-0.79,-146.6,24.2,-10.3,41,298,0.00,2.20,0.00,0.000,6,0.000,0.026,2465,2333,3003
$GC,492,-0.79,-146.6,42.6,-8.7,59,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2333,3003
$GC,683,-0.79,-146.6,60.0,-8.8,77,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2333,3004
$GC,1005,-0.79,-146.6,87.3,-8.5,107,1009,0.00,2.38,0.00,0.000,4,0.000,0.049,2455,3756,3004
$GC,1048,-0.79,-146.6,91.5,-9.0,110,1052,0.12,2.17,0.00,0.000,6,0.129,0.026,2487,2346,3004
$STATE,1190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1190,begin apogee
$GC,1199,-0.28,0.0,103.2,7.7,123,1316,0.50,0.00,111.93,0.740,6,0.108,0.000,2646,2193,2400
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1321,0.79,146.6,107.4,0.0,135,1438,1.05,0.00,111.35,0.690,6,0.083,0.000,2987,2193,1801
$GC,1757,0.79,146.6,80.6,6.7,177,1761,0.00,2.35,0.00,0.000,4,0.000,0.045,2987,3607,1799
$GC,1843,0.79,146.6,73.9,7.7,184,1849,0.00,2.22,0.00,0.000,6,0.000,0.026,2994,2199,1799
$GC,2172,0.79,146.6,50.2,7.1,215,2176,0.00,2.35,0.00,0.000,4,0.000,0.045,2994,3617,1799
$GC,2194,0.79,146.6,48.2,7.0,216,2200,0.00,2.22,0.00,0.000,6,0.000,0.027,3000,2199,1798
$GC,2393,0.79,146.6,33.8,7.4,235,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2199,1798
$GC,2584,0.79,146.6,21.0,6.0,253,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2199,1798
$GC,2788,0.83,181.9,10.0,5.0,287,2822,0.00,2.38,27.77,0.762,4,0.000,0.044,3000,3617,1657
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,1.4,1.007463
$STATE,2947,end surface coast,CONTROL_FINISHED_OK
$STATE,2947,begin surface
$SM_CCo,2971,105.38,0.656,0,0,768,400.08
$SM_GC,2.22,0.00,0.00,105.38,0.000,0.000,0.656,15,2338,768,-8.51,-0.34,400.08
$IRIDIUM_FIX,4751.72,-12223.57,011007,040438
$TT8_MAMPS,0.026078
$HUMID,1875
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,32.1
$24V_AH,24.4,57.423
$10V_AH,10.7,29.045
$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,19.925,27.500,251.050,105.375,0.000,31.356,16.526,95.454,1.250,0.000,0.000,13.781,515.576,1474.406,406.306,622.168,329.363,33.354,732.093,0.000,633.825,0.000,11.458
$DEVICE_MAMPS,197.119,49.088,761.631,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.157,248.540,531.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15977,315
$CFSIZE,260165632,240082944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,023157,4807.793,-12223.859,11,1.5,11,18.3