version: 66.03
glider: 128
mission: 2
dive: 646
start: 10 1 107 7 27 6
data:
$ID,128
$MISSION,2
$DIVE,646
$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,-74381.578
$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,66
$R_STBD_OVSHOOT,34
$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
$GPS1,072156,4806.188,-12222.186,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.0
$GPS2,072609,4806.220,-12222.190,10,1.8,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.167
$KALMAN_X,-32324.2,382.8,-87.6,33712.8,-111.3
$KALMAN_Y,-12680.2,-131.7,-163.9,10310.7,6.4
$MHEAD_RNG_PITCHd_Wd,122.0,2698,-11.0,-5.970
$D_GRID,107
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-0.79,-146.6,0.0,0.0,0,105,0.00,0.00,-70.10,0.000,2,0.000,0.000,13,2337,2488
$GC,109,-0.79,-146.6,3.0,-1.3,13,139,10.02,0.00,-14.80,0.000,6,0.206,0.000,2479,2335,3000
$GC,208,-0.79,-146.6,13.4,-9.9,30,215,0.00,2.40,0.00,0.000,4,0.000,0.050,2470,3763,3002
$GC,269,-0.79,-146.6,19.9,-11.1,40,276,0.00,2.22,0.00,0.000,6,0.000,0.026,2470,2334,3002
$GC,341,-0.79,-146.6,27.5,-10.2,47,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2333,3002
$GC,531,-0.79,-146.6,45.0,-8.9,65,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2333,3003
$GC,722,-0.79,-146.6,61.9,-8.6,83,726,0.00,2.38,0.00,0.000,4,0.000,0.049,2460,3753,3003
$GC,757,-0.79,-146.6,65.3,-9.2,85,763,0.00,2.17,0.00,0.000,6,0.000,0.026,2460,2340,3003
$GC,1083,-0.79,-146.6,95.4,-9.0,116,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2340,3003
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1226,-0.28,0.0,108.0,9.0,129,1344,0.57,0.00,111.78,0.742,6,0.110,0.000,2641,2208,2400
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1348,0.79,146.6,112.7,0.0,141,1465,1.08,0.00,111.18,0.691,6,0.084,0.000,2989,2207,1802
$GC,1785,0.79,146.6,85.8,6.8,183,1789,0.00,2.35,0.00,0.000,4,0.000,0.045,2989,3606,1799
$GC,1831,0.79,146.6,82.2,8.3,187,1835,0.00,2.22,0.00,0.000,6,0.000,0.027,2998,2209,1799
$GC,2162,0.79,146.6,58.0,7.2,217,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2208,1799
$GC,2488,0.79,146.6,34.9,6.4,248,2493,0.00,2.33,0.00,0.000,4,0.000,0.045,2998,3608,1800
$GC,2534,0.79,146.6,31.6,7.2,251,2540,0.00,2.22,0.00,0.000,6,0.000,0.027,3007,2191,1800
$GC,2733,0.80,154.8,19.5,5.7,270,2745,0.00,0.00,7.95,0.762,6,0.000,0.000,3007,2190,1769
$GC,2815,0.80,154.8,14.7,6.0,284,2821,0.00,2.25,0.00,0.000,4,0.000,0.036,3007,804,1768
$GC,2829,0.82,172.8,14.1,5.5,286,2853,0.00,2.25,15.43,0.788,6,0.000,0.031,3007,2213,1693
$GC,2923,0.82,172.8,8.7,6.0,302,2930,0.00,2.33,0.00,0.000,4,0.000,0.048,3007,3595,1693
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,1.6,1.014048
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3053,begin surface
$SM_CCo,3077,111.40,0.660,0,0,768,400.08
$SM_GC,2.45,0.00,0.00,111.40,0.000,0.000,0.660,13,2337,768,-8.52,-0.40,400.08
$IRIDIUM_FIX,4748.51,-12224.57,011007,101004
$TT8_MAMPS,0.026845
$HUMID,1868
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,44.5
$24V_AH,24.4,57.892
$10V_AH,10.7,29.294
$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,20.150,27.275,246.325,111.400,0.000,31.179,12.623,97.104,0.500,0.000,0.000,12.482,527.540,1545.597,418.680,631.419,334.160,33.338,753.570,0.000,650.336,0.000,5.474
$DEVICE_MAMPS,206.323,49.855,787.709,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.244,251.739,548.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15958,325
$CFSIZE,260165632,239910912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,082137,4805.936,-12221.857,35,1.5,41,18.3