version: 66.03
glider: 128
mission: 2
dive: 323
start: 9 19 107 0 55 11
data:
$ID,128
$MISSION,2
$DIVE,323
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$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,300
$N_FILEKB,4
$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,-67129.984
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$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,50
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$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,9.9999997e-05
$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
$GPS1,004947,4807.921,-12224.080,12,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.2
$GPS2,005408,4807.953,-12224.073,9,2.0,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.113
$KALMAN_X,-105.7,-64.8,-41.4,-430.0,-68.8
$KALMAN_Y,-37.4,-20.6,33.8,569.5,-67.7
$MHEAD_RNG_PITCHd_Wd,117.7,6661,-10.6,-5.026
$D_GRID,103
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-146.6,0.0,0.0,0,101,0.00,0.00,-74.20,0.000,6,0.000,0.000,14,2250,3399
$GC,105,-0.77,-146.6,3.5,-3.5,14,123,10.23,3.00,0.00,0.000,4,0.207,0.050,2555,3999,3402
$GC,208,-0.77,-146.6,15.4,-7.2,32,215,0.00,2.85,0.00,0.000,6,0.000,0.029,2555,2239,3403
$GC,283,-0.77,-146.6,20.3,-6.5,45,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2239,3404
$GC,474,-0.77,-146.6,32.7,-6.7,63,479,0.00,2.88,0.00,0.000,4,0.000,0.045,2555,493,3404
$GC,514,-0.77,-146.6,35.4,-6.7,66,519,0.00,2.88,0.00,0.000,6,0.000,0.038,2554,2252,3404
$GC,711,-0.77,-146.6,48.0,-6.6,84,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2252,3404
$GC,902,-0.77,-146.6,60.7,-6.7,102,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2252,3404
$GC,1221,-0.77,-146.6,81.4,-6.4,132,1226,0.00,2.92,0.00,0.000,4,0.000,0.056,2544,4003,3405
$GC,1249,-0.77,-146.6,83.3,-7.1,134,1254,0.00,2.80,0.00,0.000,6,0.000,0.029,2544,2244,3405
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1440,-0.28,0.0,95.1,6.2,151,1557,0.55,0.00,111.12,0.760,6,0.110,0.000,2722,2139,2799
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1560,0.77,146.6,97.6,0.0,163,1678,1.02,0.00,110.68,0.705,6,0.079,0.000,3058,2138,2201
$GC,1996,0.77,146.6,69.1,7.0,205,2001,0.00,3.03,0.00,0.000,4,0.000,0.054,3058,3909,2198
$GC,2039,0.77,146.6,65.5,8.4,208,2046,0.00,2.85,0.00,0.000,6,0.000,0.033,3069,2173,2198
$GC,2368,0.77,146.6,40.3,7.8,239,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2173,2198
$GC,2566,0.77,146.6,25.5,7.1,258,2570,0.00,2.95,0.00,0.000,4,0.000,0.050,3071,391,2198
$GC,2594,0.77,146.6,23.5,7.1,260,2598,0.00,2.88,0.00,0.000,6,0.000,0.037,3071,2155,2198
$GC,2801,0.77,146.6,9.2,6.7,292,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2155,2198
$GC,2876,0.77,146.6,4.2,6.7,305,2882,0.00,2.95,0.00,0.000,4,0.000,0.050,3081,378,2197
$GC,2900,0.77,146.6,2.4,6.7,309,2907,0.00,2.88,0.00,0.000,6,0.000,0.037,3081,2149,2198
$STATE,2911,end climb,SURFACE_DEPTH_REACHED
$STATE,2911,begin surface coast
$FINISH,0.4,1.024832
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2959,73.12,0.702,0,0,1576,300.00
$SM_GC,1.12,0.00,0.00,73.12,0.000,0.000,0.702,15,2274,1576,-8.77,0.65,300.00
$IRIDIUM_FIX,4748.51,-12226.29,190907,040414
$TT8_MAMPS,0.026845
$HUMID,1889
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,50.1
$24V_AH,24.6,33.250
$10V_AH,10.7,16.569
$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,20.400,35.150,221.800,73.125,0.000,24.274,22.557,120.206,0.250,0.000,0.000,16.357,530.583,1507.939,359.862,625.014,296.782,32.335,683.233,0.000,636.054,0.000,2.523
$DEVICE_MAMPS,207.090,62.127,760.097,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.752,246.470,533.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16013,316
$CFSIZE,260165632,248205312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,014701,4807.669,-12223.820,30,1.1,41,18.3