version: 66.03
glider: 128
mission: 2
dive: 671
start: 10 2 107 8 48 11
data:
$ID,128
$MISSION,2
$DIVE,671
$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,-74958.812
$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,63
$R_STBD_OVSHOOT,36
$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
$GPS1,084237,4806.010,-12222.021,10,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.6
$GPS2,084714,4806.049,-12222.028,10,1.3,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.172
$KALMAN_X,-34464.6,205.0,-90.2,36234.8,-115.1
$KALMAN_Y,-14993.7,65.7,-94.3,12041.5,69.1
$MHEAD_RNG_PITCHd_Wd,124.2,2323,-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,33,-0.79,-146.6,0.0,0.0,0,94,0.00,0.00,-58.83,0.000,2,0.000,0.000,14,2333,2251
$GC,99,-0.79,-146.6,3.0,-1.0,11,139,9.93,2.22,-24.77,0.000,4,0.202,0.045,2481,957,2999
$GC,176,-0.79,-146.6,9.0,-9.1,24,182,0.00,2.28,0.00,0.000,6,0.000,0.033,2474,2352,3001
$GC,252,-0.79,-146.6,16.3,-9.8,37,258,0.00,2.35,0.00,0.000,4,0.000,0.049,2464,3758,3001
$GC,278,-0.79,-146.6,18.6,-9.5,41,284,0.00,2.25,0.00,0.000,6,0.000,0.025,2464,2331,3001
$GC,351,-0.79,-146.6,25.5,-9.3,49,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2331,3001
$GC,542,-0.79,-146.6,42.6,-9.0,67,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2331,3002
$GC,733,-0.79,-146.6,59.9,-8.9,85,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2331,3002
$GC,1054,-0.79,-146.6,88.4,-9.3,115,1058,0.00,2.38,0.00,0.000,4,0.000,0.049,2455,3751,3002
$GC,1105,-0.79,-146.6,93.4,-9.3,119,1110,0.12,2.15,0.00,0.000,6,0.128,0.026,2487,2354,3002
$STATE,1290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1290,begin apogee
$GC,1299,-0.28,0.0,108.1,7.6,136,1416,0.50,0.00,112.03,0.746,6,0.107,0.000,2647,2202,2400
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1421,0.79,146.6,112.3,0.0,148,1538,1.05,0.00,111.43,0.692,6,0.083,0.000,2987,2201,1801
$GC,1858,0.79,146.6,84.9,7.0,190,1862,0.00,2.35,0.00,0.000,4,0.000,0.046,2987,3608,1799
$GC,1916,0.79,146.6,80.2,8.7,195,1920,0.00,2.22,0.00,0.000,6,0.000,0.027,2996,2208,1799
$GC,2245,0.79,146.6,56.1,6.6,225,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2208,1799
$GC,2571,0.79,146.6,32.8,6.9,256,2575,0.00,2.30,0.00,0.000,4,0.000,0.046,2996,3605,1799
$GC,2602,0.79,146.6,30.5,8.0,258,2608,0.00,2.20,0.00,0.000,6,0.000,0.027,3005,2200,1799
$GC,2803,0.79,146.6,16.7,6.5,281,2810,0.00,2.25,0.00,0.000,4,0.000,0.036,3012,805,1799
$GC,2847,0.79,146.6,13.9,6.3,288,2854,0.00,2.25,0.00,0.000,6,0.000,0.031,3012,2213,1799
$GC,2924,0.79,146.6,9.3,6.5,301,2930,0.00,2.28,0.00,0.000,4,0.000,0.047,3012,3600,1799
$STATE,3052,end climb,SURFACE_DEPTH_REACHED
$STATE,3053,begin surface coast
$FINISH,1.6,1.004328
$STATE,3090,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3115,131.12,0.665,0,0,769,400.08
$SM_GC,2.53,0.00,0.00,131.12,0.000,0.000,0.665,12,2333,769,-8.53,-0.48,400.08
$IRIDIUM_FIX,4748.51,-12203.06,021007,111150
$TT8_MAMPS,0.026845
$HUMID,1868
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,45.5
$24V_AH,24.3,59.965
$10V_AH,10.7,30.384
$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,20.000,31.650,223.450,131.125,0.000,30.709,14.781,117.088,0.750,0.000,0.000,11.962,545.068,1571.823,422.317,638.339,360.557,33.333,755.362,0.000,656.632,0.000,5.476
$DEVICE_MAMPS,201.721,49.088,745.524,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.992,258.869,556.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16002,330
$CFSIZE,260165632,239194112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,094326,4805.739,-12221.766,11,1.7,28,18.3