version: 66.03
glider: 128
mission: 2
dive: 647
start: 10 1 107 8 27 6
data:
$ID,128
$MISSION,2
$DIVE,647
$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,-74397.391
$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,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
$GPS1,082137,4805.936,-12221.857,35,1.5,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-65.3
$GPS2,082609,4805.979,-12221.864,13,1.5,13,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.182
$KALMAN_X,-32420.2,342.5,-44.7,34209.6,-122.2
$KALMAN_Y,-12362.8,-258.9,-202.5,9711.7,143.8
$MHEAD_RNG_PITCHd_Wd,128.8,2106,-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,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,-70.22,0.000,2,0.000,0.000,13,2337,2498
$GC,109,-0.79,-146.6,3.1,-1.3,13,140,9.90,2.22,-14.18,0.000,4,0.202,0.044,2481,958,2999
$GC,159,-0.79,-146.6,8.8,-10.3,21,165,0.00,2.28,0.00,0.000,6,0.000,0.034,2474,2348,3001
$GC,235,-0.79,-146.6,17.0,-11.2,34,241,0.00,2.35,0.00,0.000,4,0.000,0.050,2464,3751,3001
$GC,283,-0.79,-146.6,22.3,-10.3,41,287,0.00,2.20,0.00,0.000,6,0.000,0.026,2464,2339,3001
$GC,482,-0.79,-146.6,41.2,-9.0,59,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2336,3002
$GC,673,-0.79,-146.6,58.8,-9.0,77,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2336,3002
$GC,992,-0.79,-146.6,87.5,-9.0,107,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2336,3002
$STATE,1231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1240,-0.28,0.0,108.6,8.6,130,1357,0.57,0.00,111.78,0.749,6,0.111,0.000,2645,2204,2399
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1363,0.79,146.6,113.0,0.0,142,1481,1.05,2.38,110.82,0.690,4,0.083,0.036,2995,823,1802
$GC,1513,0.79,146.6,105.8,7.5,156,1517,0.00,2.30,0.00,0.000,6,0.000,0.031,2994,2203,1800
$GC,1842,0.79,146.6,81.1,7.1,186,1847,0.00,2.35,0.00,0.000,4,0.000,0.048,2994,3608,1799
$GC,1921,0.79,146.6,74.2,8.0,192,1928,0.00,2.22,0.00,0.000,6,0.000,0.027,3003,2200,1799
$GC,2253,0.79,146.6,49.8,7.2,223,2257,0.00,2.35,0.00,0.000,4,0.000,0.047,3003,3612,1799
$GC,2287,0.79,146.6,46.5,9.1,225,2293,0.00,2.22,0.00,0.000,6,0.000,0.027,3013,2199,1799
$GC,2485,0.79,146.6,31.7,7.1,244,2489,0.00,2.22,0.00,0.000,4,0.000,0.036,3022,798,1799
$GC,2503,0.79,146.6,30.4,7.0,245,2509,0.00,2.25,0.00,0.000,6,0.000,0.031,3022,2210,1800
$GC,2703,0.79,146.6,17.5,6.6,267,2709,0.00,2.30,0.00,0.000,4,0.000,0.048,3021,3609,1799
$GC,2773,0.79,146.6,12.8,6.8,279,2780,0.12,2.22,0.00,0.000,6,0.129,0.027,2997,2190,1799
$GC,2851,0.83,181.1,8.7,5.0,292,2886,0.00,2.38,27.25,0.772,4,0.000,0.045,2996,3608,1660
$STATE,2963,end climb,SURFACE_DEPTH_REACHED
$STATE,2963,begin surface coast
$FINISH,1.5,1.013414
$STATE,2984,end surface coast,CONTROL_FINISHED_OK
$STATE,2984,begin surface
$SM_CCo,3008,108.00,0.653,0,0,769,400.08
$SM_GC,2.43,0.00,0.00,108.00,0.000,0.000,0.653,18,2333,769,-8.51,-0.48,400.08
$IRIDIUM_FIX,4748.51,-12226.29,011007,111153
$TT8_MAMPS,0.026845
$HUMID,1866
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,83.7,41.7
$24V_AH,24.4,57.972
$10V_AH,10.7,29.336
$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,20.050,36.425,249.850,108.000,0.000,29.792,21.981,105.016,0.500,0.000,0.000,15.185,517.692,1499.915,399.708,636.219,350.257,33.325,751.100,0.000,649.959,0.000,4.056
$DEVICE_MAMPS,201.721,49.855,771.602,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.001,249.817,531.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15985,315
$CFSIZE,260165632,239878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,091957,4805.696,-12221.677,14,1.8,14,18.3