version: 66.03
glider: 128
mission: 2
dive: 642
start: 10 1 107 3 33 5
data:
$ID,128
$MISSION,2
$DIVE,642
$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,-74322.844
$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,68
$R_STBD_OVSHOOT,39
$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
$GPS1,032757,4807.536,-12223.544,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-64.3
$GPS2,033208,4807.561,-12223.541,15,1.9,15,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,-0.160
$KALMAN_X,-31887.3,293.1,-4.5,31614.6,-146.7
$KALMAN_Y,-12947.5,119.5,89.9,12553.2,3.4
$MHEAD_RNG_PITCHd_Wd,119.1,5691,-11.0,-5.970
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-0.79,-146.6,0.0,0.0,0,105,0.00,0.00,-70.20,0.000,2,0.000,0.000,10,2330,2492
$GC,109,-0.79,-146.6,3.2,-1.7,13,139,9.93,2.22,-14.20,0.000,4,0.202,0.044,2477,955,2999
$GC,164,-0.79,-146.6,9.6,-10.8,22,171,0.00,2.28,0.00,0.000,6,0.000,0.034,2472,2345,3000
$GC,240,-0.79,-146.6,17.7,-10.3,35,246,0.00,2.38,0.00,0.000,4,0.000,0.049,2461,3764,3000
$GC,288,-0.79,-146.6,22.7,-10.5,41,292,0.00,2.22,0.00,0.000,6,0.000,0.026,2462,2337,3001
$GC,487,-0.79,-146.6,41.3,-9.0,59,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2336,3001
$GC,678,-0.79,-146.6,59.3,-9.5,77,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2336,3002
$GC,1000,-0.79,-146.6,87.6,-9.0,107,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2336,3001
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1204,-0.28,0.0,105.5,8.4,126,1321,0.57,0.00,111.53,0.740,6,0.109,0.000,2643,2199,2399
$STATE,1321,end apogee,CONTROL_FINISHED_OK
$STATE,1321,begin climb
$GC,1326,0.79,146.6,109.7,0.0,138,1441,1.05,0.00,110.80,0.689,6,0.081,0.000,2985,2198,1802
$GC,1760,0.79,146.6,82.9,6.6,179,1764,0.00,2.35,0.00,0.000,4,0.000,0.045,2985,3606,1799
$GC,1796,0.79,146.6,80.2,7.6,182,1800,0.00,2.22,0.00,0.000,6,0.000,0.026,2994,2205,1799
$GC,2125,0.79,146.6,56.6,7.1,212,2129,0.00,2.35,0.00,0.000,4,0.000,0.044,2994,3618,1799
$GC,2170,0.79,146.6,52.8,7.9,215,2176,0.00,2.22,0.00,0.000,6,0.000,0.026,2999,2201,1799
$GC,2499,0.79,146.6,29.3,7.3,246,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2200,1799
$GC,2702,0.82,169.7,16.4,5.3,271,2726,0.00,2.40,18.85,0.807,4,0.000,0.045,3000,3606,1707
$GC,2768,0.82,169.7,12.5,6.2,282,2775,0.00,2.22,0.00,0.000,6,0.000,0.027,3007,2199,1707
$GC,2845,0.82,173.6,7.9,5.9,295,2851,0.00,0.00,4.50,0.607,6,0.000,0.000,3007,2199,1692
$GC,2921,0.85,194.1,3.6,5.4,308,2945,0.00,2.40,14.57,0.746,4,0.000,0.045,3007,3601,1606
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,1.5,1.013977
$STATE,3002,end surface coast,CONTROL_FINISHED_OK
$STATE,3002,begin surface
$SM_CCo,3026,94.60,0.651,0,0,768,400.08
$SM_GC,2.33,0.00,0.00,94.60,0.000,0.000,0.651,20,2343,768,-8.50,-0.23,400.08
$IRIDIUM_FIX,4748.51,-12226.29,011007,060646
$TT8_MAMPS,0.026845
$HUMID,1869
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,34.3
$24V_AH,24.4,57.579
$10V_AH,10.7,29.127
$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,20.100,27.450,260.250,94.600,0.000,25.604,12.650,98.478,1.250,0.000,0.000,16.659,520.619,1502.221,392.474,643.081,329.442,33.344,741.021,0.000,654.381,0.000,11.453
$DEVICE_MAMPS,202.488,49.088,806.884,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.853,252.910,543.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15919,322
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,042626,4807.216,-12223.237,39,1.3,39,18.3