version: 66.03
glider: 128
mission: 2
dive: 561
start: 9 28 107 1 3 10
data:
$ID,128
$MISSION,2
$DIVE,561
$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,53
$T_MISSION,65
$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,-72243.836
$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,57
$R_STBD_OVSHOOT,48
$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
$GPS1,005737,4807.632,-12223.582,10,1.1,26,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.5
$GPS2,010209,4807.624,-12223.598,10,1.2,10,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,-0.180
$KALMAN_X,-22716.3,-30.8,-71.3,22763.7,-143.8
$KALMAN_Y,-13592.6,-227.0,79.6,13674.5,70.2
$MHEAD_RNG_PITCHd_Wd,121.2,5826,-14.1,-7.547
$D_GRID,105
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.96,-146.6,0.0,0.0,0,83,0.00,0.00,-53.50,0.000,2,0.000,0.000,8,2373,2309
$GC,87,-0.96,-146.6,3.0,-1.3,10,123,9.73,2.38,-19.77,0.000,4,0.204,0.044,2422,948,3000
$GC,427,-0.96,-146.6,41.2,-11.5,53,431,0.00,2.25,0.00,0.000,6,0.000,0.032,2417,2348,3004
$GC,630,-0.96,-146.6,63.0,-10.4,72,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2348,3004
$GC,949,-0.96,-146.6,97.0,-10.8,102,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2349,3004
$STATE,1032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1041,-0.28,0.0,106.2,10.8,110,1158,0.73,0.00,111.43,0.740,6,0.114,0.000,2642,2188,2399
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1162,0.96,146.6,110.9,0.0,122,1279,1.23,0.00,111.15,0.693,6,0.079,0.000,3044,2188,1801
$GC,1599,0.96,146.6,77.2,9.0,164,1602,0.00,2.35,0.00,0.000,4,0.000,0.043,3043,3606,1799
$GC,1657,0.96,146.6,71.4,10.8,169,1661,0.00,2.22,0.00,0.000,6,0.000,0.027,3053,2203,1799
$GC,1985,0.96,146.6,41.3,9.1,199,1989,0.00,2.33,0.00,0.000,4,0.000,0.042,3053,3614,1799
$GC,2004,0.96,146.6,39.3,9.1,200,2008,0.00,2.22,0.00,0.000,6,0.000,0.027,3063,2198,1799
$GC,2203,0.96,146.6,21.4,8.6,218,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2196,1799
$GC,2406,1.00,171.8,4.4,6.7,252,2430,0.00,2.40,19.00,0.770,4,0.000,0.042,3063,3609,1699
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,1.6,1.024162
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2487,95.78,0.660,0,0,972,350.04
$SM_GC,2.55,0.00,0.00,95.78,0.000,0.000,0.660,18,2337,972,-8.51,-0.40,350.04
$IRIDIUM_FIX,4751.72,-12228.02,280907,040432
$TT8_MAMPS,0.026845
$HUMID,1904
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.9,47.3
$24V_AH,24.4,51.104
$10V_AH,10.7,25.905
$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,20.475,18.375,241.575,95.775,0.000,25.256,15.164,120.960,0.500,0.000,0.000,12.268,437.388,1216.573,367.213,537.674,318.034,33.349,650.715,0.000,552.029,0.000,2.515
$DEVICE_MAMPS,204.022,44.486,770.068,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,186.755,202.230,442.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12807,262
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,014723,4807.349,-12223.351,10,3.2,29,18.3