version: 66.03
glider: 128
mission: 2
dive: 673
start: 10 2 107 11 2 53
data:
$ID,128
$MISSION,2
$DIVE,673
$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,538.67877
$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,-74983.758
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,104355,4805.513,-12221.561,26,1.2,44,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-61.5
$GPS2,110156,4805.670,-12221.688,10,1.9,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.167
$KALMAN_X,-35058.8,22.4,124.6,37220.8,-275.8
$KALMAN_Y,-14526.6,182.2,-150.0,10806.3,268.8
$MHEAD_RNG_PITCHd_Wd,121.9,1504,-11.0,-5.970
$D_GRID,110
$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,30,-0.79,-146.6,0.0,0.0,0,91,0.00,0.00,-59.03,0.000,2,0.000,0.000,19,2341,2235
$GC,96,-0.79,-146.6,3.1,-1.2,11,137,9.90,2.35,-25.05,0.000,4,0.201,0.046,2483,931,2999
$GC,168,-0.79,-146.6,9.5,-10.9,23,175,0.00,2.35,0.00,0.000,6,0.000,0.034,2481,2347,3001
$GC,244,-0.79,-146.6,16.8,-8.8,36,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3002
$GC,323,-0.79,-146.6,24.2,-9.6,46,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3002
$GC,514,-0.79,-146.6,40.4,-8.2,64,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3003
$GC,705,-0.79,-146.6,56.3,-8.1,82,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3003
$GC,1024,-0.79,-146.6,82.0,-7.7,112,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3003
$GC,1342,-0.79,-146.6,107.6,-8.2,142,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2347,3003
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1378,-0.28,0.0,110.3,8.5,145,1495,0.50,0.00,112.20,0.747,6,0.104,0.000,2641,2158,2400
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1500,0.79,146.6,114.7,0.0,157,1621,1.05,2.28,111.28,0.692,4,0.079,0.035,2993,818,1801
$GC,1649,0.79,146.6,108.5,6.6,171,1653,0.00,2.30,0.00,0.000,6,0.000,0.031,2993,2207,1800
$GC,1983,0.79,146.6,84.7,7.4,202,1987,0.00,2.35,0.00,0.000,4,0.000,0.048,2993,3616,1800
$GC,2053,0.79,146.6,78.9,8.2,207,2060,0.00,2.20,0.00,0.000,6,0.000,0.027,3001,2215,1799
$GC,2383,0.79,146.6,55.1,7.3,238,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2214,1799
$GC,2709,0.79,146.6,31.6,7.1,269,2713,0.00,2.30,0.00,0.000,4,0.000,0.048,3001,3605,1800
$GC,2749,0.79,146.6,28.3,7.9,272,2756,0.00,2.20,0.00,0.000,6,0.000,0.027,3009,2203,1800
$GC,2954,0.79,146.6,13.9,6.3,299,2960,0.00,2.22,0.00,0.000,4,0.000,0.037,3015,804,1800
$GC,3114,0.91,243.5,7.4,3.3,327,3193,0.00,2.22,72.40,0.697,6,0.000,0.031,3015,2207,1406
$STATE,3231,end climb,SURFACE_DEPTH_REACHED
$STATE,3232,begin surface coast
$FINISH,1.7,1.025762
$STATE,3261,end surface coast,CONTROL_FINISHED_OK
$STATE,3261,begin surface
$SM_CCo,3284,154.60,0.635,0,0,203,538.68
$SM_GC,2.33,0.00,0.00,154.60,0.000,0.000,0.635,17,2356,203,-8.51,0.17,538.68
$IRIDIUM_FIX,4748.51,-12224.57,021007,141439
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,39.1
$24V_AH,24.3,60.166
$10V_AH,10.7,30.481
$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,20.025,23.250,295.875,154.600,0.000,138.094,72.226,482.035,1.000,0.000,0.000,11.992,555.665,1885.480,474.602,694.319,924.510,33.346,847.459,0.000,709.656,0.000,6.941
$DEVICE_MAMPS,200.954,48.321,747.058,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.352,274.561,595.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16020,353
$CFSIZE,260165632,239120384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,120122,4805.422,-12221.505,8,2.2,28,18.3