version: 66.03
glider: 128
mission: 2
dive: 681
start: 10 2 107 19 53 48
data:
$ID,128
$MISSION,2
$DIVE,681
$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,1
$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,-75142.977
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,194315,4804.964,-12221.032,9,1.6,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.9
$GPS2,195251,4805.082,-12221.137,11,1.6,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.111
$KALMAN_X,-37841.5,-585.8,-207.3,41623.7,-233.1
$KALMAN_Y,-11726.9,439.6,65.5,6446.2,252.6
$MHEAD_RNG_PITCHd_Wd,116.8,227,-17.2,-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,-1.04,-69.1,0.0,0.0,0,100,0.00,0.00,-64.18,0.000,2,0.000,0.000,18,2358,2362
$GC,104,-1.14,-146.6,3.0,-1.3,12,140,9.52,2.35,-19.10,0.000,4,0.204,0.061,2359,3751,2999
$GC,176,-1.14,-146.6,11.4,-11.8,24,182,0.00,2.22,0.00,0.000,6,0.000,0.026,2359,2325,3001
$GC,251,-1.14,-146.6,21.8,-12.2,36,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2323,3002
$GC,443,-1.14,-146.6,47.7,-14.1,54,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2323,3002
$GC,633,-1.14,-146.6,73.7,-13.0,72,637,0.00,2.17,0.00,0.000,4,0.000,0.034,2358,963,3002
$GC,668,-1.14,-146.6,78.1,-12.5,75,672,0.00,2.25,0.00,0.000,6,0.000,0.035,2349,2351,3002
$STATE,895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,895,begin apogee
$GC,904,-0.28,0.0,109.3,14.1,96,1022,0.98,0.00,112.18,0.732,6,0.123,0.000,2646,2192,2400
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1027,1.14,146.6,114.9,0.0,108,1146,1.38,2.53,110.95,0.687,4,0.077,0.046,3098,3609,1801
$GC,1182,1.14,146.6,104.4,11.5,122,1188,0.00,2.30,0.00,0.000,6,0.000,0.027,3109,2206,1800
$GC,1513,1.14,146.6,67.0,12.1,153,1517,0.00,2.28,0.00,0.000,4,0.000,0.036,3119,797,1800
$GC,1577,1.14,146.6,59.4,11.0,158,1581,0.00,2.28,0.00,0.000,6,0.000,0.031,3118,2203,1800
$GC,1906,1.14,146.6,20.7,12.2,188,1910,0.00,2.33,0.00,0.000,4,0.000,0.048,3119,3609,1800
$GC,2003,1.14,146.6,9.1,10.6,204,2009,0.00,2.25,0.00,0.000,6,0.000,0.027,3129,2188,1800
$GC,2079,1.14,146.6,2.8,8.2,217,2086,0.00,2.22,0.00,0.000,4,0.000,0.036,3139,795,1799
$STATE,2090,end climb,SURFACE_DEPTH_REACHED
$STATE,2091,begin surface coast
$FINISH,1.6,1.025501
$STATE,2113,end surface coast,CONTROL_FINISHED_OK
$STATE,2113,begin surface
$SM_CCo,2139,130.62,0.652,0,0,769,400.08
$SM_GC,2.40,0.00,0.00,130.62,0.000,0.000,0.652,10,2349,769,-8.53,-0.03,400.08
$IRIDIUM_FIX,4748.51,-12217.40,021007,232307
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,47.7
$24V_AH,24.3,60.924
$10V_AH,10.7,30.841
$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,20.750,27.925,223.125,130.625,0.000,55.516,28.786,314.438,0.500,0.000,0.000,13.489,381.910,1049.027,393.024,464.870,573.799,33.342,667.038,0.000,473.152,0.000,5.485
$DEVICE_MAMPS,204.022,61.360,731.718,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,160.276,172.943,376.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9668,223
$CFSIZE,260165632,238919680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,203247,4804.911,-12220.987,8,7.2,27,18.3