version: 66.03
glider: 128
mission: 2
dive: 668
start: 10 2 107 5 33 2
data:
$ID,128
$MISSION,2
$DIVE,668
$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,-74879.812
$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,53
$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
$GPS1,052509,4806.893,-12222.853,10,1.3,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-65.4
$GPS2,053203,4806.926,-12222.870,10,1.5,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.148
$KALMAN_X,-34113.5,409.1,-184.1,34731.5,-160.4
$KALMAN_Y,-15100.6,-186.0,130.5,13798.2,-91.2
$MHEAD_RNG_PITCHd_Wd,114.8,4252,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,96,0.00,0.00,-64.15,0.000,2,0.000,0.000,12,2359,2383
$GC,101,-0.79,-146.6,3.1,-1.4,12,135,9.95,0.00,-18.38,0.000,6,0.202,0.000,2482,2359,2999
$GC,205,-0.79,-146.6,13.2,-10.5,30,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2359,3001
$GC,286,-0.79,-146.6,21.0,-9.7,43,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2359,3001
$GC,476,-0.79,-146.6,37.5,-8.7,61,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2359,3002
$GC,667,-0.79,-146.6,53.6,-8.7,79,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2359,3002
$GC,986,-0.79,-146.6,79.3,-7.9,109,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2359,3002
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1313,-0.28,0.0,105.5,8.1,139,1430,0.50,0.00,111.82,0.746,6,0.107,0.000,2643,2186,2400
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1436,0.79,146.6,110.0,0.0,151,1551,1.05,0.00,111.15,0.692,6,0.081,0.000,2985,2186,1802
$GC,1870,0.79,146.6,84.2,6.9,192,1874,0.00,2.38,0.00,0.000,4,0.000,0.046,2985,3606,1799
$GC,1900,0.79,146.6,81.9,8.6,194,1906,0.00,2.22,0.00,0.000,6,0.000,0.027,2994,2203,1799
$GC,2229,0.79,146.6,58.0,7.4,225,2233,0.00,2.33,0.00,0.000,4,0.000,0.045,2994,3602,1799
$GC,2270,0.79,146.6,54.4,8.7,228,2275,0.00,2.22,0.00,0.000,6,0.000,0.027,3002,2189,1799
$GC,2600,0.79,146.6,30.9,7.1,258,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2189,1799
$GC,2801,0.79,146.6,17.5,6.3,280,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2189,1799
$GC,2877,0.79,146.6,12.6,6.3,293,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2189,1799
$GC,2953,0.85,195.4,9.2,4.6,306,2998,0.00,2.42,37.55,0.737,4,0.000,0.046,3003,3599,1602
$STATE,3081,end climb,SURFACE_DEPTH_REACHED
$STATE,3082,begin surface coast
$FINISH,1.8,1.025534
$STATE,3118,end surface coast,CONTROL_FINISHED_OK
$STATE,3118,begin surface
$SM_CCo,3142,105.85,0.657,0,0,768,400.08
$SM_GC,2.47,0.00,0.00,105.85,0.000,0.000,0.657,19,2330,768,-8.50,-0.59,400.08
$IRIDIUM_FIX,4748.51,-12224.57,021007,090907
$TT8_MAMPS,0.026078
$HUMID,1893
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,46.5
$24V_AH,24.3,59.698
$10V_AH,10.7,30.246
$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,19.975,13.825,260.525,105.850,0.000,53.337,36.396,143.550,0.250,0.000,0.000,15.053,530.131,1670.374,401.173,644.404,433.184,33.346,742.559,0.000,662.541,0.000,2.516
$DEVICE_MAMPS,201.721,46.020,745.524,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.435,265.609,565.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15992,335
$CFSIZE,260165632,239284224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,062803,4806.572,-12222.514,11,1.6,11,18.3