version: 66.03
glider: 128
mission: 2
dive: 680
start: 10 2 107 18 57 24
data:
$ID,128
$MISSION,2
$DIVE,680
$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,-75128.859
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,185202,4805.099,-12221.103,37,1.7,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.6
$GPS2,185627,4805.161,-12221.154,12,1.3,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.140
$KALMAN_X,-37384.7,-607.4,-260.5,41217.5,-220.5
$KALMAN_Y,-12182.4,456.1,150.2,6949.2,209.9
$MHEAD_RNG_PITCHd_Wd,122.7,354,-14.3,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.91,-95.3,0.0,0.0,0,94,0.00,0.00,-58.88,0.000,2,0.000,0.000,17,2353,2247
$GC,99,-0.98,-146.6,3.0,-1.3,11,140,9.68,2.35,-25.00,0.000,4,0.202,0.062,2410,3752,2999
$GC,176,-0.98,-146.6,9.3,-9.7,24,182,0.00,2.22,0.00,0.000,6,0.000,0.026,2410,2328,3000
$GC,253,-0.98,-146.6,19.0,-12.5,37,259,0.00,2.17,0.00,0.000,4,0.000,0.032,2410,965,3002
$GC,361,-0.98,-146.6,32.6,-12.1,47,367,0.00,2.25,0.00,0.000,6,0.000,0.034,2404,2352,3002
$GC,560,-0.98,-146.6,54.5,-10.7,66,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2352,3002
$GC,879,-0.98,-146.6,91.4,-12.0,96,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2352,3002
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1032,-0.28,0.0,108.3,11.1,110,1149,0.77,0.00,111.88,0.732,6,0.114,0.000,2645,2195,2400
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1154,0.98,146.6,112.7,0.0,122,1272,1.23,0.00,111.38,0.687,6,0.078,0.000,3046,2194,1802
$GC,1591,0.98,146.6,77.0,9.4,164,1595,0.00,2.38,0.00,0.000,4,0.000,0.046,3046,3613,1800
$GC,1630,0.98,146.6,72.9,10.4,167,1637,0.00,2.22,0.00,0.000,6,0.000,0.027,3055,2211,1800
$GC,1961,0.98,146.6,42.4,8.8,198,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2210,1800
$GC,2160,0.98,146.6,26.5,7.8,217,2164,0.00,2.33,0.00,0.000,4,0.000,0.045,3055,3608,1800
$GC,2217,0.98,146.6,21.7,8.5,221,2223,0.00,2.22,0.00,0.000,6,0.000,0.027,3065,2194,1800
$GC,2429,0.98,146.6,8.0,7.1,256,2435,0.00,2.22,0.00,0.000,4,0.000,0.036,3074,797,1800
$STATE,2512,end climb,SURFACE_DEPTH_REACHED
$STATE,2513,begin surface coast
$FINISH,1.7,1.012567
$STATE,2549,end surface coast,CONTROL_FINISHED_OK
$STATE,2549,begin surface
$SM_CCo,2574,126.62,0.656,0,0,769,400.08
$SM_GC,2.40,0.00,0.00,126.62,0.000,0.000,0.656,18,2357,769,-8.51,0.20,400.08
$IRIDIUM_FIX,4748.51,-12217.40,021007,212133
$TT8_MAMPS,0.026078
$HUMID,1868
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.0,48.2
$24V_AH,24.3,60.833
$10V_AH,10.7,30.806
$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,20.225,23.100,223.250,126.625,0.000,28.332,17.842,98.927,0.500,0.000,0.000,13.824,456.040,1242.900,411.169,548.291,321.765,33.345,701.737,0.000,560.998,0.000,5.482
$DEVICE_MAMPS,201.721,62.127,731.718,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.048,215.639,467.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12758,277
$CFSIZE,260165632,238944256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021007,194315,4804.964,-12221.032,9,1.6,9,18.3