version: 66.03
glider: 128
mission: 2
dive: 568
start: 9 28 107 7 16 20
data:
$ID,128
$MISSION,2
$DIVE,568
$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,-72469.805
$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,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
$GPS1,071023,4805.347,-12221.470,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.6
$GPS2,071523,4805.310,-12221.470,13,2.1,32,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.206,-0.116
$KALMAN_X,-23170.9,-92.8,132.1,25707.6,-130.5
$KALMAN_Y,-14355.9,52.6,-123.7,10076.1,-128.2
$MHEAD_RNG_PITCHd_Wd,101.0,816,-14.1,-7.547
$D_GRID,110
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-59.00,0.000,2,0.000,0.000,19,2349,2440
$GC,93,-0.96,-146.6,3.3,-2.2,11,123,9.65,2.33,-15.57,0.000,4,0.203,0.046,2423,955,3000
$GC,426,-0.96,-146.6,40.9,-10.2,53,433,0.00,2.28,0.00,0.000,6,0.000,0.032,2415,2350,3004
$GC,624,-0.96,-146.6,63.1,-11.5,72,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2350,3004
$GC,943,-0.96,-146.6,97.8,-10.6,102,947,0.00,2.22,0.00,0.000,4,0.000,0.032,2415,944,3004
$STATE,1054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1054,begin apogee
$GC,1064,-0.28,0.0,110.4,11.7,112,1181,0.75,0.00,111.57,0.744,6,0.118,0.000,2641,2202,2400
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1186,0.96,146.6,115.3,0.0,124,1305,1.25,0.00,111.43,0.702,6,0.081,0.000,3047,2203,1801
$GC,1624,0.96,146.6,80.4,9.2,166,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2202,1798
$GC,1943,0.96,146.6,51.7,8.7,196,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2202,1799
$GC,2261,0.96,146.6,24.2,8.4,226,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2202,1799
$GC,2460,0.96,146.6,7.7,8.0,257,2467,0.00,2.33,0.00,0.000,4,0.000,0.044,3047,3610,1798
$GC,2508,0.96,146.6,3.7,8.4,265,2514,0.00,2.20,0.00,0.000,6,0.000,0.027,3055,2199,1798
$STATE,2558,end climb,SURFACE_DEPTH_REACHED
$STATE,2558,begin surface coast
$FINISH,1.4,1.013712
$STATE,2638,end surface coast,CONTROL_FINISHED_OK
$STATE,2638,begin surface
$SM_CCo,2660,105.15,0.677,0,0,972,350.04
$SM_GC,2.41,0.00,0.00,105.15,0.000,0.000,0.677,15,2363,972,-8.52,0.34,350.04
$IRIDIUM_FIX,4748.51,-12227.28,280907,101044
$TT8_MAMPS,0.026078
$HUMID,1883
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.2,38.5
$24V_AH,24.4,51.652
$10V_AH,10.7,26.180
$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,20.250,13.650,223.000,105.150,0.000,29.426,17.402,116.244,0.750,0.000,0.000,37.199,472.491,1323.860,363.166,609.963,312.371,33.348,662.607,0.000,603.730,0.000,4.051
$DEVICE_MAMPS,203.255,46.020,743.990,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.058,225.485,486.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12796,288
$CFSIZE,260165632,241963008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,080337,4805.262,-12221.375,32,1.0,32,18.3