version: 66.03
glider: 128
mission: 2
dive: 347
start: 9 19 107 23 55 47
data:
$ID,128
$MISSION,2
$DIVE,347
$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,-67678.375
$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,41
$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,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
$GPS1,235107,4807.988,-12223.971,36,0.7,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.2
$GPS2,235445,4807.973,-12223.953,10,1.4,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.082
$KALMAN_X,-2443.5,-210.5,59.2,2099.5,-181.1
$KALMAN_Y,-3006.8,315.6,-50.6,3324.1,-178.0
$MHEAD_RNG_PITCHd_Wd,103.3,6608,-10.6,-5.026
$D_GRID,105
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.77,-146.6,0.0,0.0,0,105,0.00,0.00,-74.38,0.000,6,0.000,0.000,6,2268,3399
$GC,108,-0.77,-146.6,4.1,-4.2,14,126,10.38,2.95,0.00,0.000,4,0.211,0.038,2569,496,3403
$GC,431,-0.77,-146.6,31.2,-6.2,55,437,0.00,2.83,0.00,0.000,6,0.000,0.033,2565,2244,3405
$GC,628,-0.77,-146.6,42.9,-5.8,74,633,0.00,2.88,0.00,0.000,4,0.000,0.039,2565,484,3405
$GC,701,-0.77,-146.6,47.5,-6.3,80,706,0.00,2.85,0.00,0.000,6,0.000,0.033,2564,2249,3405
$GC,899,-0.77,-146.6,59.6,-6.3,98,904,0.00,2.90,0.00,0.000,4,0.000,0.051,2557,4000,3405
$GC,931,-0.77,-146.6,61.9,-7.0,100,938,0.00,2.80,0.00,0.000,6,0.000,0.028,2557,2225,3405
$GC,1258,-0.77,-146.6,81.8,-6.2,131,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2223,3405
$STATE,1476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1476,begin apogee
$GC,1483,-0.28,0.0,95.3,6.0,152,1600,0.52,0.00,111.47,0.765,6,0.109,0.000,2724,2155,2799
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1603,0.77,146.6,97.9,0.0,164,1721,1.02,0.00,110.82,0.708,6,0.080,0.000,3060,2155,2202
$GC,2039,0.77,146.6,68.8,7.2,206,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2155,2200
$GC,2358,0.77,146.6,45.4,7.2,236,2362,0.00,2.92,0.00,0.000,4,0.000,0.047,3061,3913,2200
$GC,2378,0.77,146.6,43.5,8.1,237,2386,0.00,2.80,0.00,0.000,6,0.000,0.029,3072,2154,2199
$GC,2576,0.77,146.6,28.4,7.5,256,2581,0.00,2.88,0.00,0.000,4,0.000,0.042,3083,392,2199
$GC,2604,0.77,146.6,26.6,6.9,258,2609,0.00,2.85,0.00,0.000,6,0.000,0.032,3083,2162,2199
$GC,2810,0.77,146.6,11.1,7.5,286,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2162,2199
$GC,2884,0.77,146.6,5.8,6.9,299,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2162,2199
$GC,2958,0.80,174.1,2.3,4.2,312,2971,0.00,0.00,10.70,0.815,2,0.000,0.000,3083,2162,2144
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,0.4,1.012326
$STATE,3033,end surface coast,CONTROL_FINISHED_OK
$STATE,3033,begin surface
$SM_CCo,3052,64.30,0.690,0,0,1576,300.00
$SM_GC,1.41,0.00,0.00,64.30,0.000,0.000,0.690,6,2263,1576,-8.80,0.37,300.00
$IRIDIUM_FIX,4751.72,-12226.29,200907,030341
$TT8_MAMPS,0.026845
$HUMID,1919
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,38.0
$24V_AH,24.5,34.889
$10V_AH,10.7,17.554
$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,20.625,28.825,233.000,64.300,0.000,22.809,14.810,89.313,0.750,0.000,0.000,12.206,542.081,1545.413,354.769,657.597,259.232,33.319,690.948,0.000,675.259,0.000,2.504
$DEVICE_MAMPS,210.925,88.205,815.321,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.058,256.096,548.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15919,325
$CFSIZE,260165632,247578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,004833,4807.746,-12223.585,12,1.3,12,18.3