version: 66.03
glider: 128
mission: 2
dive: 679
start: 10 2 107 17 53 53
data:
$ID,128
$MISSION,2
$DIVE,679
$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,-75114.406
$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,57
$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
$GPS1,174339,4805.158,-12221.198,12,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.8
$GPS2,175256,4805.320,-12221.316,14,1.8,14,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,-0.155
$KALMAN_X,-37117.4,-553.4,-219.5,40656.3,-376.4
$KALMAN_Y,-12472.0,425.7,192.0,7519.0,290.7
$MHEAD_RNG_PITCHd_Wd,117.1,710,-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,-58.95,0.000,2,0.000,0.000,8,2356,2256
$GC,96,-0.79,-146.6,3.2,-1.6,11,136,9.93,2.40,-22.58,0.000,4,0.200,0.061,2468,3753,3000
$GC,156,-0.79,-146.6,8.0,-7.0,21,162,0.00,2.22,0.00,0.000,6,0.000,0.025,2468,2326,3001
$GC,232,-0.79,-146.6,15.1,-10.0,34,238,0.00,2.17,0.00,0.000,4,0.000,0.031,2468,961,3002
$GC,307,-0.79,-146.6,23.7,-11.9,44,313,0.00,2.25,0.00,0.000,6,0.000,0.034,2465,2350,3002
$GC,506,-0.79,-146.6,40.9,-8.0,63,509,0.00,2.20,0.00,0.000,4,0.000,0.031,2465,971,3003
$GC,540,-0.79,-146.6,44.0,-8.9,65,546,0.00,2.22,0.00,0.000,6,0.000,0.033,2461,2352,3003
$GC,739,-0.79,-146.6,59.9,-8.0,84,743,0.00,2.30,0.00,0.000,4,0.000,0.049,2451,3752,3003
$GC,789,-0.79,-146.6,64.2,-8.5,88,796,0.12,2.15,0.00,0.000,6,0.127,0.025,2483,2351,3003
$GC,1116,-0.79,-146.6,88.3,-8.2,119,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2351,3003
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1408,-0.28,0.0,110.4,7.5,146,1525,0.50,0.00,112.30,0.738,6,0.107,0.000,2643,2199,2399
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1530,0.79,146.6,114.6,0.0,158,1645,1.05,0.00,111.22,0.688,6,0.081,0.000,2985,2198,1802
$GC,1964,0.79,146.6,88.4,7.3,199,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,1800
$GC,2283,0.79,146.6,65.8,6.5,229,2287,0.00,2.33,0.00,0.000,4,0.000,0.046,2985,3606,1799
$GC,2330,0.79,146.6,62.5,7.4,233,2334,0.00,2.20,0.00,0.000,6,0.000,0.027,2994,2212,1799
$GC,2661,0.79,146.6,39.1,6.9,263,2665,0.00,2.33,0.00,0.000,4,0.000,0.045,2994,3614,1799
$GC,2773,0.79,146.6,30.2,7.5,272,2779,0.00,2.22,0.00,0.000,6,0.000,0.027,3002,2194,1799
$GC,2973,0.84,184.0,18.6,4.9,293,3009,0.00,2.42,29.52,0.742,4,0.000,0.045,3002,3606,1647
$GC,3045,0.84,187.8,14.6,5.9,305,3058,0.00,2.25,4.47,0.564,6,0.000,0.026,3010,2190,1633
$GC,3127,0.84,187.8,9.5,6.3,319,3134,0.00,2.25,0.00,0.000,4,0.000,0.036,3017,809,1632
$STATE,3245,end climb,SURFACE_DEPTH_REACHED
$STATE,3245,begin surface coast
$FINISH,1.6,1.015755
$STATE,3278,end surface coast,CONTROL_FINISHED_OK
$STATE,3278,begin surface
$SM_CCo,3303,108.15,0.653,0,0,768,400.08
$SM_GC,2.48,0.00,0.00,108.15,0.000,0.000,0.653,16,2353,768,-8.51,0.08,400.08
$IRIDIUM_FIX,4748.51,-12224.57,021007,212135
$TT8_MAMPS,0.026078
$HUMID,1862
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,48.2
$24V_AH,24.3,60.757
$10V_AH,10.7,30.768
$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,20.150,36.650,257.525,108.150,0.000,55.139,41.144,269.451,0.500,0.000,0.000,16.088,562.426,1731.390,411.111,700.591,576.878,33.353,781.143,0.000,711.759,0.000,5.489
$DEVICE_MAMPS,200.187,61.360,741.689,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.056,270.994,582.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,345
$CFSIZE,260165632,238960640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,185202,4805.099,-12221.103,37,1.7,37,18.3