version: 66.03
glider: 128
mission: 2
dive: 566
start: 9 28 107 5 29 41
data:
$ID,128
$MISSION,2
$DIVE,566
$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,-72396.055
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,052353,4806.009,-12222.138,10,2.1,29,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.8
$GPS2,052841,4805.965,-12222.122,13,2.1,32,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.176
$KALMAN_X,-22896.4,-121.7,82.7,24707.9,-3.4
$KALMAN_Y,-14074.2,-25.3,-33.3,10998.7,-75.5
$MHEAD_RNG_PITCHd_Wd,119.9,2264,-14.1,-7.547
$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,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,-53.65,0.000,2,0.000,0.000,10,2353,2315
$GC,87,-0.96,-146.6,3.1,-1.8,10,123,9.60,2.35,-20.08,0.000,4,0.199,0.046,2426,944,3000
$GC,428,-0.96,-146.6,40.6,-10.9,54,432,0.00,2.28,0.00,0.000,6,0.000,0.031,2418,2354,3004
$GC,626,-0.96,-146.6,62.9,-11.4,72,630,0.00,2.25,0.00,0.000,4,0.000,0.033,2418,951,3004
$GC,800,-0.96,-146.6,82.3,-11.3,86,807,0.00,2.28,0.00,0.000,6,0.000,0.032,2412,2353,3004
$STATE,1026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1035,-0.28,0.0,108.3,11.1,108,1152,0.75,0.00,111.65,0.741,6,0.114,0.000,2646,2177,2400
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1157,0.96,146.6,113.1,0.0,120,1274,1.23,0.00,111.32,0.697,6,0.078,0.000,3045,2178,1802
$GC,1593,0.96,146.6,78.2,9.2,162,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2177,1799
$GC,1912,0.96,146.6,48.9,9.4,192,1916,0.00,2.35,0.00,0.000,4,0.000,0.043,3045,3606,1799
$GC,1981,0.96,146.6,42.0,10.0,198,1985,0.00,2.20,0.00,0.000,6,0.000,0.027,3054,2209,1799
$GC,2179,0.96,146.6,24.4,8.5,216,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2207,1799
$GC,2378,0.96,146.6,7.9,7.8,247,2384,0.00,2.25,0.00,0.000,4,0.000,0.037,3062,798,1799
$GC,2493,1.13,284.5,2.5,2.8,267,2513,0.08,2.28,13.95,0.782,2,0.054,0.031,3113,2210,1686
$STATE,2514,end climb,SURFACE_DEPTH_REACHED
$STATE,2514,begin surface coast
$FINISH,1.5,1.019879
$STATE,2547,end surface coast,CONTROL_FINISHED_OK
$STATE,2547,begin surface
$SM_CCo,2569,89.88,0.661,0,0,972,350.04
$SM_GC,2.55,0.00,0.00,89.88,0.000,0.000,0.661,17,2348,972,-8.51,-0.06,350.04
$IRIDIUM_FIX,4748.51,-12221.84,280907,080849
$TT8_MAMPS,0.026078
$HUMID,1899
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,83.2,43.6
$24V_AH,24.4,51.498
$10V_AH,10.7,26.101
$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,20.500,18.650,236.925,89.875,0.000,23.040,15.278,117.401,1.250,0.000,0.000,37.541,459.863,1230.488,364.529,602.768,309.403,33.345,662.487,0.000,592.842,0.000,6.949
$DEVICE_MAMPS,198.653,49.088,781.573,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,198.345,213.921,465.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12797,276
$CFSIZE,260165632,242016256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,061516,4805.682,-12221.813,16,2.3,35,18.3