version: 66.03
glider: 128
mission: 2
dive: 670
start: 10 2 107 7 47 28
data:
$ID,128
$MISSION,2
$DIVE,670
$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,-74946.227
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,074145,4806.345,-12222.266,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-63.8
$GPS2,074632,4806.380,-12222.278,10,1.8,28,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.176
$KALMAN_X,-34310.8,282.2,-175.5,35779.8,-94.6
$KALMAN_Y,-14944.4,-47.7,-56.9,12680.6,52.4
$MHEAD_RNG_PITCHd_Wd,126.1,3006,-11.0,-5.970
$D_GRID,108
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-58.85,0.000,2,0.000,0.000,19,2334,2251
$GC,98,-0.79,-146.6,3.0,-1.1,11,139,9.85,2.30,-26.00,0.000,4,0.200,0.044,2480,947,2999
$GC,159,-0.79,-146.6,6.5,-5.5,21,165,0.00,2.28,0.00,0.000,6,0.000,0.033,2472,2349,3001
$GC,236,-0.79,-146.6,14.5,-10.3,34,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2349,3002
$GC,316,-0.79,-146.6,22.1,-9.1,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2349,3002
$GC,506,-0.79,-146.6,39.2,-8.7,64,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2349,3003
$GC,698,-0.79,-146.6,55.9,-8.6,82,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2349,3003
$GC,1022,-0.79,-146.6,83.2,-8.3,112,1026,0.00,2.33,0.00,0.000,4,0.000,0.050,2463,3755,3003
$GC,1074,-0.79,-146.6,88.2,-8.6,116,1078,0.00,2.20,0.00,0.000,6,0.000,0.025,2464,2324,3003
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1331,-0.28,0.0,108.5,7.9,139,1449,0.57,0.00,112.03,0.741,6,0.110,0.000,2644,2204,2400
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1453,0.79,146.6,112.7,0.0,151,1572,1.05,2.47,111.05,0.691,4,0.082,0.044,2987,3600,1801
$GC,1627,0.79,146.6,104.1,8.1,167,1631,0.00,2.25,0.00,0.000,6,0.000,0.026,2995,2213,1800
$GC,1956,0.79,146.6,80.2,7.5,197,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2212,1799
$GC,2283,0.79,146.6,55.8,6.9,228,2287,0.00,2.30,0.00,0.000,4,0.000,0.044,2995,3606,1799
$GC,2329,0.79,146.6,52.3,8.0,232,2333,0.00,2.22,0.00,0.000,6,0.000,0.026,3004,2192,1799
$GC,2661,0.79,146.6,29.1,7.2,262,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2191,1799
$GC,2863,0.82,173.4,15.4,5.2,287,2887,0.00,0.00,21.55,0.782,6,0.000,0.000,3004,2191,1693
$GC,2957,0.82,173.4,9.6,7.3,303,2963,0.00,2.25,0.00,0.000,4,0.000,0.035,3006,809,1692
$GC,2988,0.82,173.4,8.1,6.7,308,2995,0.00,2.28,0.00,0.000,6,0.000,0.031,3006,2222,1692
$GC,3065,0.90,238.1,4.5,4.2,321,3106,0.00,1.17,37.22,0.696,3,0.000,0.044,3005,2909,1427
$STATE,3107,end climb,SURFACE_DEPTH_REACHED
$STATE,3107,begin surface coast
$FINISH,1.7,1.007618
$STATE,3140,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3164,77.07,0.647,0,0,768,400.08
$SM_GC,2.38,0.00,0.00,77.07,0.000,0.000,0.647,14,2333,768,-8.52,-0.48,400.08
$IRIDIUM_FIX,4748.51,-12224.57,021007,101046
$TT8_MAMPS,0.026078
$HUMID,1898
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,83.2,46.1
$24V_AH,24.3,59.886
$10V_AH,10.7,30.341
$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,20.150,25.075,281.850,77.075,0.000,31.394,16.772,107.539,1.500,0.000,0.000,29.949,537.884,1582.231,383.521,684.884,353.298,33.344,750.218,0.000,681.769,0.000,6.927
$DEVICE_MAMPS,200.187,52.923,781.573,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.890,263.780,563.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15952,334
$CFSIZE,260165632,239226880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,084237,4806.010,-12222.021,10,1.3,26,18.3