version: 66.03
glider: 128
mission: 2
dive: 349
start: 9 20 107 2 2 37
data:
$ID,128
$MISSION,2
$DIVE,349
$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,-67740.664
$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,47
$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
$GPS1,015717,4807.411,-12223.183,11,2.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.0
$GPS2,020137,4807.385,-12223.162,45,1.6,45,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.119
$KALMAN_X,-2239.6,-320.3,19.9,3023.2,29.6
$KALMAN_Y,-3412.3,253.3,47.3,2602.3,-238.2
$MHEAD_RNG_PITCHd_Wd,121.0,5164,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-74.93,0.000,6,0.000,0.000,7,2267,3398
$GC,108,-0.77,-146.6,3.6,-3.4,14,126,10.32,2.95,0.00,0.000,4,0.210,0.038,2566,493,3403
$GC,429,-0.77,-146.6,30.9,-6.5,57,436,0.00,2.83,0.00,0.000,6,0.000,0.032,2563,2241,3404
$GC,627,-0.77,-146.6,43.1,-6.2,76,631,0.00,2.85,0.00,0.000,4,0.000,0.038,2563,486,3404
$GC,689,-0.77,-146.6,47.5,-7.1,81,694,0.00,2.85,0.00,0.000,6,0.000,0.033,2563,2254,3404
$GC,886,-0.77,-146.6,59.4,-5.9,99,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2255,3404
$GC,1205,-0.77,-146.6,78.3,-5.9,129,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2255,3404
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1502,begin apogee
$GC,1508,-0.28,0.0,95.6,5.7,157,1625,0.50,0.00,111.32,0.760,6,0.106,0.000,2724,2118,2799
$STATE,1626,end apogee,CONTROL_FINISHED_OK
$STATE,1626,begin climb
$GC,1629,0.77,146.6,97.8,0.0,169,1749,1.02,3.15,110.55,0.706,4,0.076,0.047,3063,3906,2200
$GC,1766,0.77,146.6,90.6,8.3,182,1772,0.00,2.90,0.00,0.000,6,0.000,0.028,3074,2171,2200
$GC,2094,0.77,146.6,64.7,7.5,213,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2170,2198
$GC,2419,0.77,146.6,38.8,7.5,244,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2170,2199
$GC,2610,0.77,146.6,24.6,7.5,262,2615,0.00,2.90,0.00,0.000,4,0.000,0.042,3086,395,2198
$GC,2638,0.77,146.6,22.5,7.1,264,2643,0.00,2.83,0.00,0.000,6,0.000,0.032,3086,2153,2198
$GC,2845,0.77,146.6,7.4,7.0,297,2851,0.00,2.88,0.00,0.000,4,0.000,0.048,3086,3912,2199
$GC,2864,0.77,146.6,5.9,7.1,300,2871,0.00,2.83,0.00,0.000,6,0.000,0.030,3097,2144,2198
$GC,2939,0.83,194.9,2.4,3.5,313,2958,0.00,0.00,16.48,0.816,2,0.000,0.000,3097,2141,2094
$STATE,2958,end climb,SURFACE_DEPTH_REACHED
$STATE,2958,begin surface coast
$FINISH,0.4,1.001922
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3031,begin surface
$SM_CCo,3050,55.83,0.681,0,0,1576,300.00
$SM_GC,1.33,0.00,0.00,55.83,0.000,0.000,0.681,17,2266,1576,-8.76,0.45,300.00
$IRIDIUM_FIX,4748.51,-12221.84,200907,050554
$TT8_MAMPS,0.026078
$HUMID,1918
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,29.3
$24V_AH,24.5,35.048
$10V_AH,10.7,17.643
$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,20.600,29.300,238.350,55.825,0.000,23.172,18.923,89.975,1.250,0.000,0.000,47.356,543.186,1539.348,341.422,700.473,263.134,33.318,680.688,0.000,677.917,0.000,7.039
$DEVICE_MAMPS,210.158,52.923,816.088,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.447,255.288,555.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15970,329
$CFSIZE,260165632,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,025532,4807.110,-12222.905,19,2.0,31,18.3