version: 66.03
glider: 128
mission: 2
dive: 666
start: 10 2 107 3 33 12
data:
$ID,128
$MISSION,2
$DIVE,666
$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,-74832.086
$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,44
$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
$GPS1,032737,4807.471,-12223.507,32,1.5,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-66.2
$GPS2,033216,4807.474,-12223.498,14,4.3,33,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.169,-0.136
$KALMAN_X,-33949.8,458.3,18.8,33539.7,-222.5
$KALMAN_Y,-14980.0,-285.9,194.9,14727.6,-66.4
$MHEAD_RNG_PITCHd_Wd,110.5,5527,-11.0,-5.970
$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,28,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,-70.05,0.000,2,0.000,0.000,8,2363,2519
$GC,109,-0.79,-146.6,3.1,-1.3,13,139,10.07,2.30,-12.50,0.000,4,0.207,0.044,2480,946,2999
$GC,199,-0.79,-146.6,14.6,-11.1,28,206,0.00,2.28,0.00,0.000,6,0.000,0.034,2478,2344,3001
$GC,280,-0.79,-146.6,22.4,-9.6,40,284,0.00,2.35,0.00,0.000,4,0.000,0.049,2468,3753,3001
$GC,333,-0.79,-146.6,27.4,-9.3,44,337,0.00,2.22,0.00,0.000,6,0.000,0.026,2468,2322,3001
$GC,532,-0.79,-146.6,45.0,-8.6,62,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2320,3002
$GC,723,-0.79,-146.6,61.7,-9.0,80,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2320,3002
$GC,1042,-0.79,-146.6,90.4,-9.0,110,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2321,3002
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1195,-0.28,0.0,103.4,8.8,124,1313,0.55,0.00,111.75,0.741,6,0.110,0.000,2641,2200,2400
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1318,0.79,146.6,108.0,0.0,136,1436,1.08,2.35,110.97,0.690,4,0.083,0.035,2994,829,1801
$GC,1461,0.79,146.6,101.8,6.3,149,1467,0.00,2.30,0.00,0.000,6,0.000,0.031,2995,2211,1800
$GC,1790,0.79,146.6,78.7,7.4,180,1794,0.00,2.33,0.00,0.000,4,0.000,0.047,2994,3608,1799
$GC,1853,0.79,146.6,73.4,9.0,185,1857,0.00,2.20,0.00,0.000,6,0.000,0.027,3003,2212,1799
$GC,2188,0.79,146.6,48.8,7.1,216,2192,0.00,2.25,0.00,0.000,4,0.000,0.035,3011,806,1799
$GC,2245,0.79,146.6,44.4,7.2,220,2251,0.00,2.22,0.00,0.000,6,0.000,0.031,3012,2205,1799
$GC,2444,0.79,146.6,30.5,7.0,239,2448,0.00,2.30,0.00,0.000,4,0.000,0.047,3011,3607,1799
$GC,2518,0.79,146.6,24.6,8.1,245,2524,0.00,2.20,0.00,0.000,6,0.000,0.026,3020,2198,1799
$GC,2727,0.79,146.6,10.7,6.4,276,2733,0.00,2.22,0.00,0.000,4,0.000,0.036,3027,802,1799
$GC,2741,0.79,146.6,9.7,6.2,278,2748,0.12,2.25,0.00,0.000,6,0.110,0.031,2993,2214,1799
$GC,2819,0.85,198.7,6.0,4.5,291,2864,0.00,0.00,39.25,0.726,6,0.000,0.000,2993,2215,1587
$STATE,2902,end climb,SURFACE_DEPTH_REACHED
$STATE,2902,begin surface coast
$FINISH,1.6,1.025311
$STATE,2942,end surface coast,CONTROL_FINISHED_OK
$STATE,2942,begin surface
$SM_CCo,2965,101.03,0.654,0,0,768,400.08
$SM_GC,2.57,0.00,0.00,101.03,0.000,0.000,0.654,11,2346,768,-8.53,-0.11,400.08
$IRIDIUM_FIX,4748.51,-12221.84,021007,060633
$TT8_MAMPS,0.026845
$HUMID,1879
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.9,43.8
$24V_AH,24.3,59.534
$10V_AH,10.7,30.159
$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,20.300,32.100,261.975,101.025,0.000,30.361,14.789,98.413,0.250,0.000,0.000,35.788,513.948,1434.390,394.987,676.730,339.752,33.346,754.090,0.000,667.451,0.000,2.511
$DEVICE_MAMPS,207.090,52.923,740.922,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.968,239.862,528.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15924,313
$CFSIZE,260165632,239337472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,042538,4807.189,-12223.188,39,1.2,39,18.3