version: 66.03
glider: 128
mission: 2
dive: 350
start: 9 20 107 3 10 35
data:
$ID,128
$MISSION,2
$DIVE,350
$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,-67755.547
$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,50
$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
$GPS1,025532,4807.110,-12222.905,19,2.0,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.1
$GPS2,030933,4807.028,-12222.852,11,1.3,11,18.3
$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,-2352.0,-240.4,49.5,3410.2,30.2
$KALMAN_Y,-3579.2,182.5,76.0,2152.1,-233.1
$MHEAD_RNG_PITCHd_Wd,121.1,4400,-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,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,-74.72,0.000,6,0.000,0.000,17,2267,3398
$GC,105,-0.77,-146.6,3.4,-3.0,14,123,10.27,2.95,0.00,0.000,4,0.209,0.038,2564,497,3403
$GC,426,-0.77,-146.6,31.1,-6.7,56,432,0.00,2.83,0.00,0.000,6,0.000,0.032,2563,2246,3404
$GC,623,-0.77,-146.6,43.2,-6.2,75,628,0.00,2.85,0.00,0.000,4,0.000,0.038,2563,494,3405
$GC,776,-0.77,-146.6,53.7,-6.9,88,780,0.00,2.83,0.00,0.000,6,0.000,0.032,2563,2251,3405
$GC,1102,-0.77,-146.6,73.6,-6.1,118,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2251,3405
$GC,1419,-0.77,-146.6,92.2,-5.3,148,1424,0.00,2.90,0.00,0.000,4,0.000,0.051,2558,4005,3405
$GC,1448,-0.77,-146.6,94.0,-6.1,150,1452,0.00,2.80,0.00,0.000,6,0.000,0.028,2558,2224,3405
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1468,-0.28,0.0,95.0,6.4,151,1585,0.52,0.00,111.45,0.759,6,0.109,0.000,2726,2150,2799
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1589,0.77,146.6,97.3,0.0,163,1706,1.02,0.00,110.95,0.703,6,0.077,0.000,3064,2150,2200
$GC,2024,0.77,146.6,67.6,7.7,205,2029,0.00,2.95,0.00,0.000,4,0.000,0.046,3064,3904,2198
$GC,2064,0.77,146.6,64.3,8.8,208,2069,0.00,2.83,0.00,0.000,6,0.000,0.028,3076,2157,2197
$GC,2391,0.77,146.6,38.8,7.5,238,2395,0.00,2.88,0.00,0.000,4,0.000,0.042,3084,396,2198
$GC,2419,0.77,146.6,36.5,8.2,240,2423,0.00,2.83,0.00,0.000,6,0.000,0.031,3085,2152,2198
$GC,2616,0.77,146.6,21.1,7.8,258,2621,0.00,2.90,0.00,0.000,4,0.000,0.048,3085,3911,2198
$GC,2661,0.77,146.6,17.2,8.5,264,2668,0.00,2.83,0.00,0.000,6,0.000,0.029,3095,2145,2197
$GC,2736,0.77,146.6,11.4,7.7,277,2743,0.00,2.85,0.00,0.000,4,0.000,0.042,3106,392,2198
$GC,2755,0.77,146.6,9.9,7.7,280,2762,0.15,2.83,0.00,0.000,6,0.124,0.032,3065,2153,2198
$GC,2831,0.77,146.6,4.8,6.5,293,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2153,2197
$STATE,2897,end climb,SURFACE_DEPTH_REACHED
$STATE,2897,begin surface coast
$FINISH,0.4,1.023577
$STATE,2960,end surface coast,CONTROL_FINISHED_OK
$STATE,2960,begin surface
$SM_CCo,2979,78.72,0.696,0,0,1576,300.00
$SM_GC,1.13,0.00,0.00,78.72,0.000,0.000,0.696,15,2272,1576,-8.77,0.62,300.00
$IRIDIUM_FIX,4748.51,-12224.57,200907,070742
$TT8_MAMPS,0.026845
$HUMID,1901
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,42.9
$24V_AH,24.5,35.137
$10V_AH,10.7,17.690
$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,20.600,40.225,222.400,78.725,0.000,110.471,184.345,256.499,0.500,0.000,0.000,14.260,537.573,1661.049,365.502,658.628,699.571,33.319,703.763,0.000,672.436,0.000,2.518
$DEVICE_MAMPS,208.624,88.205,758.563,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.175,248.444,533.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16013,316
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,040220,4806.784,-12222.616,10,1.4,10,18.3