version: 66.03
glider: 128
mission: 2
dive: 348
start: 9 20 107 1 3 48
data:
$ID,128
$MISSION,2
$DIVE,348
$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,-67692.672
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,004833,4807.746,-12223.585,12,1.3,12,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.7
$GPS2,010245,4807.671,-12223.492,12,1.2,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.109
$KALMAN_X,-2191.2,-344.1,10.4,2597.2,-16.7
$KALMAN_Y,-3360.1,343.3,24.6,3015.1,-243.4
$MHEAD_RNG_PITCHd_Wd,115.8,5829,-10.6,-5.026
$D_GRID,107
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,102,0.00,0.00,-74.45,0.000,6,0.000,0.000,6,2264,3398
$GC,106,-0.77,-146.6,3.6,-3.5,14,124,10.48,2.92,0.00,0.000,4,0.214,0.038,2564,489,3403
$GC,427,-0.77,-146.6,30.5,-6.8,57,434,0.00,2.83,0.00,0.000,6,0.000,0.032,2554,2240,3405
$GC,625,-0.77,-146.6,42.9,-6.1,76,629,0.00,2.85,0.00,0.000,4,0.000,0.038,2554,487,3405
$GC,698,-0.77,-146.6,47.7,-7.4,82,703,0.00,2.85,0.00,0.000,6,0.000,0.033,2551,2253,3405
$GC,895,-0.77,-146.6,60.2,-6.6,100,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2253,3405
$GC,1214,-0.77,-146.6,79.9,-6.2,130,1219,0.00,2.88,0.00,0.000,4,0.000,0.051,2542,3999,3405
$GC,1235,-0.77,-146.6,81.4,-6.2,131,1242,0.12,2.78,0.00,0.000,6,0.128,0.028,2573,2229,3405
$STATE,1483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1490,-0.28,0.0,95.2,5.6,155,1607,0.45,0.00,111.47,0.761,6,0.108,0.000,2721,2158,2799
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1611,0.77,146.6,97.5,0.0,167,1728,1.02,0.00,110.90,0.702,6,0.080,0.000,3059,2158,2200
$GC,2046,0.77,146.6,68.7,7.4,209,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2158,2198
$GC,2365,0.77,146.6,46.1,6.8,239,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2158,2198
$GC,2556,0.77,146.6,32.5,7.1,257,2561,0.00,2.90,0.00,0.000,4,0.000,0.047,3059,3904,2198
$GC,2595,0.77,146.6,29.3,8.5,260,2600,0.00,2.80,0.00,0.000,6,0.000,0.029,3071,2157,2197
$GC,2796,0.77,146.6,14.3,7.3,284,2803,0.00,2.88,0.00,0.000,4,0.000,0.042,3081,392,2197
$GC,2821,0.77,146.6,12.6,7.2,288,2827,0.00,2.83,0.00,0.000,6,0.000,0.033,3081,2151,2197
$GC,2896,0.77,146.6,7.2,7.1,301,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2152,2197
$GC,2970,0.77,146.6,2.8,5.9,314,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2152,2197
$STATE,2991,end climb,SURFACE_DEPTH_REACHED
$STATE,2991,begin surface coast
$FINISH,0.5,1.025214
$STATE,3043,end surface coast,CONTROL_FINISHED_OK
$STATE,3043,begin surface
$SM_CCo,3062,78.32,0.700,0,0,1576,300.00
$SM_GC,1.18,0.00,0.00,78.32,0.000,0.000,0.700,7,2266,1576,-8.79,0.45,300.00
$IRIDIUM_FIX,4751.72,-12232.48,200907,040426
$TT8_MAMPS,0.026845
$HUMID,1886
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,43.5
$24V_AH,24.5,34.980
$10V_AH,10.7,17.601
$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,20.725,28.700,222.375,78.325,0.000,111.546,80.352,365.124,0.500,0.000,0.000,13.665,544.183,1749.725,359.640,657.995,705.710,33.314,694.815,0.000,673.440,0.000,2.516
$DEVICE_MAMPS,213.993,87.438,760.864,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.169,258.295,551.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15924,327
$CFSIZE,260165632,247541760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,015717,4807.411,-12223.183,11,2.1,30,18.3