version: 66.03
glider: 128
mission: 2
dive: 674
start: 10 2 107 12 24 12
data:
$ID,128
$MISSION,2
$DIVE,674
$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,-74999.258
$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,54
$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
$GPS1,120122,4805.422,-12221.505,8,2.2,28,18.3
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-59.1
$GPS2,122315,4805.631,-12221.686,13,2.0,13,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.158
$KALMAN_X,-35521.6,-90.4,199.7,37723.8,-415.5
$KALMAN_Y,-14091.7,242.2,-112.7,10203.1,401.8
$MHEAD_RNG_PITCHd_Wd,118.5,1445,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,122,0.00,0.00,-86.07,0.000,2,0.000,0.000,17,2358,2343
$GC,126,-0.79,-146.6,3.1,-1.3,16,162,9.93,2.42,-20.27,0.000,4,0.202,0.062,2472,3754,2999
$GC,193,-0.79,-146.6,9.4,-9.0,27,199,0.00,2.22,0.00,0.000,6,0.000,0.026,2472,2331,3001
$GC,269,-0.79,-146.6,18.1,-11.7,40,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2330,3002
$GC,342,-0.79,-146.6,25.7,-10.2,48,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2330,3002
$GC,533,-0.79,-146.6,44.0,-8.8,66,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2330,3003
$GC,725,-0.79,-146.6,62.1,-9.7,84,729,0.00,2.38,0.00,0.000,4,0.000,0.048,2464,3754,3003
$GC,755,-0.79,-146.6,65.0,-10.3,86,759,0.00,2.17,0.00,0.000,6,0.000,0.026,2463,2349,3003
$GC,1081,-0.79,-146.6,96.0,-9.3,116,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2347,3003
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1246,-0.28,0.0,110.2,8.5,131,1363,0.57,0.00,112.28,0.744,6,0.108,0.000,2645,2196,2400
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1368,0.79,146.6,114.3,0.0,143,1487,1.05,2.38,111.00,0.691,4,0.082,0.035,2994,813,1802
$GC,1503,0.79,149.2,108.8,5.9,155,1513,0.00,2.33,3.90,0.480,6,0.000,0.031,2994,2210,1790
$GC,1840,0.79,149.2,85.7,6.5,187,1844,0.00,2.33,0.00,0.000,4,0.000,0.047,2994,3608,1789
$GC,1904,0.79,149.2,81.2,7.5,192,1908,0.00,2.22,0.00,0.000,6,0.000,0.026,3003,2204,1789
$GC,2235,0.79,149.2,59.2,6.3,222,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2203,1789
$GC,2561,0.79,149.2,38.4,6.5,253,2565,0.00,2.33,0.00,0.000,4,0.000,0.046,3003,3607,1789
$GC,2640,0.79,149.2,32.9,6.3,259,2647,0.00,2.20,0.00,0.000,6,0.000,0.027,3013,2199,1789
$GC,2840,0.86,205.2,21.5,4.4,278,2889,0.00,0.00,42.83,0.730,6,0.000,0.000,3012,2198,1562
$GC,2959,0.89,228.6,15.6,5.3,296,2983,0.00,0.00,18.92,0.707,6,0.000,0.000,3012,2198,1467
$GC,3053,1.02,331.7,11.5,3.1,312,3138,0.15,2.38,78.72,0.660,4,0.057,0.035,3104,811,1046
$STATE,3142,end climb,SURFACE_DEPTH_REACHED
$STATE,3142,begin surface coast
$FINISH,1.7,1.004664
$STATE,3158,end surface coast,CONTROL_FINISHED_OK
$STATE,3158,begin surface
$SM_CCo,3184,110.88,0.627,0,0,203,538.68
$SM_GC,2.33,0.00,0.00,110.88,0.000,0.000,0.627,21,2342,203,-8.50,-0.23,538.68
$IRIDIUM_FIX,4745.30,-12227.28,021007,161617
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,54.0
$24V_AH,24.3,60.309
$10V_AH,10.7,30.535
$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,20.650,28.125,367.650,110.875,0.000,135.681,103.754,678.444,0.500,0.000,0.000,14.875,510.542,1786.341,495.333,670.094,1159.786,33.343,887.957,0.000,681.545,0.000,5.505
$DEVICE_MAMPS,202.488,62.127,743.990,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.158,258.395,556.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16006,330
$CFSIZE,260165632,239087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,132025,4805.415,-12221.453,37,1.9,37,18.3