version: 66.03
glider: 128
mission: 2
dive: 610
start: 9 29 107 18 27 37
data:
$ID,128
$MISSION,2
$DIVE,610
$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,-73422.398
$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,67
$R_STBD_OVSHOOT,38
$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
$GPS1,181850,4807.730,-12223.973,8,1.3,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-64.6
$GPS2,182639,4807.831,-12224.042,12,1.3,12,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.195
$KALMAN_X,-23937.2,224.2,305.3,22808.3,-56.2
$KALMAN_Y,-18958.7,-482.5,-48.7,19801.9,103.5
$MHEAD_RNG_PITCHd_Wd,127.4,6454,-14.1,-7.547
$D_GRID,103
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-48.28,0.000,2,0.000,0.000,5,2332,2179
$GC,83,-0.96,-146.6,3.0,-1.4,9,135,9.73,2.22,-34.30,0.000,4,0.202,0.045,2424,962,2998
$GC,159,-0.96,-146.6,6.4,-9.3,22,165,0.00,2.25,0.00,0.000,6,0.000,0.031,2416,2351,2999
$GC,235,-0.96,-146.6,13.8,-11.1,35,241,0.00,2.35,0.00,0.000,4,0.000,0.048,2405,3757,3000
$GC,255,-0.96,-146.6,15.9,-11.3,38,262,0.00,2.22,0.00,0.000,6,0.000,0.025,2405,2343,3000
$GC,334,-0.96,-146.6,25.2,-11.6,48,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2343,3000
$GC,525,-0.96,-146.6,46.7,-11.4,66,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2343,3000
$GC,717,-0.96,-146.6,68.3,-11.7,84,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2343,3001
$STATE,1031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1031,begin apogee
$GC,1043,-0.28,0.0,103.9,11.8,114,1160,0.77,0.00,111.72,0.742,6,0.119,0.000,2644,2208,2400
$STATE,1161,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1165,0.96,146.6,109.1,0.0,126,1283,1.23,2.45,111.38,0.693,4,0.081,0.044,3044,3605,1801
$GC,1371,0.96,146.6,94.8,10.1,145,1375,0.00,2.28,0.00,0.000,6,0.000,0.027,3052,2202,1799
$GC,1700,0.96,146.6,64.9,9.3,175,1704,0.00,2.25,0.00,0.000,4,0.000,0.035,3062,804,1799
$GC,1779,0.96,146.6,57.2,8.9,181,1785,0.00,2.25,0.00,0.000,6,0.000,0.031,3062,2209,1799
$GC,2108,0.96,146.6,26.9,8.8,212,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2210,1799
$GC,2314,0.98,155.7,9.3,7.2,242,2325,0.00,0.00,8.50,0.757,6,0.000,0.000,3062,2209,1765
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2392,begin surface coast
$FINISH,1.6,1.002758
$STATE,2415,end surface coast,CONTROL_FINISHED_OK
$STATE,2415,begin surface
$SM_CCo,2438,97.53,0.665,0,0,972,350.04
$SM_GC,2.53,0.00,0.00,97.53,0.000,0.000,0.665,17,2360,972,-8.51,0.28,350.04
$IRIDIUM_FIX,4751.72,-12223.57,290907,222241
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.8,41.4
$24V_AH,24.4,54.836
$10V_AH,10.7,27.718
$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,20.425,18.650,231.600,97.525,0.000,51.756,31.642,201.209,0.500,0.000,0.000,13.587,432.063,1229.807,362.818,533.553,464.810,33.341,662.534,0.000,549.901,0.000,2.508
$DEVICE_MAMPS,201.721,49.855,757.029,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,186.064,202.790,438.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12760,260
$CFSIZE,260165632,240926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,191045,4807.598,-12223.893,12,1.8,12,18.3