version: 66.03
glider: 128
mission: 2
dive: 353
start: 9 20 107 6 2 52
data:
$ID,128
$MISSION,2
$DIVE,353
$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,-67806.945
$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,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
$GPS1,055805,4806.081,-12221.981,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.5
$GPS2,060150,4806.064,-12221.957,9,1.5,15,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.095
$KALMAN_X,-2723.9,4.6,-6.9,4698.0,-77.1
$KALMAN_Y,-4003.1,0.2,107.4,941.8,-298.9
$MHEAD_RNG_PITCHd_Wd,108.9,2299,-10.6,-5.026
$D_GRID,108
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.77,-146.6,0.0,0.0,0,99,0.00,0.00,-70.82,0.000,2,0.000,0.000,18,2271,3305
$GC,102,-0.77,-146.6,3.1,-2.8,13,121,10.23,2.90,-2.03,0.000,4,0.209,0.060,2552,3989,3400
$GC,409,-0.77,-146.6,28.9,-7.3,56,413,0.00,2.80,0.00,0.000,6,0.000,0.028,2552,2227,3402
$GC,606,-0.77,-146.6,41.9,-6.5,74,610,0.00,2.80,0.00,0.000,4,0.000,0.039,2552,496,3402
$GC,627,-0.77,-146.6,43.5,-6.8,75,634,0.00,2.80,0.00,0.000,6,0.000,0.032,2549,2240,3402
$GC,825,-0.77,-146.6,56.0,-6.1,94,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2241,3402
$GC,1145,-0.77,-146.6,76.8,-6.7,124,1150,0.00,2.92,0.00,0.000,4,0.000,0.050,2539,4005,3402
$GC,1166,-0.77,-146.6,78.5,-7.1,125,1173,0.12,2.78,0.00,0.000,6,0.128,0.028,2571,2235,3402
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1455,-0.28,0.0,95.4,5.8,152,1572,0.47,0.00,111.05,0.761,6,0.108,0.000,2726,2155,2799
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1575,0.77,146.6,98.1,0.0,164,1692,1.02,0.00,110.97,0.706,6,0.078,0.000,3064,2154,2202
$GC,2010,0.77,146.6,69.3,7.1,206,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2154,2198
$GC,2329,0.77,146.6,45.5,7.4,236,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2154,2199
$GC,2520,0.77,146.6,32.5,6.9,254,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2155,2199
$GC,2712,0.77,146.6,19.1,6.9,273,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2154,2199
$GC,2786,0.77,146.6,14.2,6.6,286,2793,0.00,2.90,0.00,0.000,4,0.000,0.047,3064,3905,2199
$GC,2810,0.77,146.6,12.3,6.8,290,2817,0.00,2.80,0.00,0.000,6,0.000,0.030,3075,2153,2199
$GC,2885,0.77,146.6,7.2,6.9,303,2892,0.00,2.85,0.00,0.000,4,0.000,0.042,3085,398,2199
$GC,2910,0.77,146.6,5.6,6.7,307,2916,0.00,2.83,0.00,0.000,6,0.000,0.031,3085,2160,2199
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.9,1.024345
$STATE,3017,end surface coast,CONTROL_FINISHED_OK
$STATE,3017,begin surface
$SM_CCo,3036,71.47,0.700,0,0,1577,300.00
$SM_GC,1.18,0.00,0.00,71.47,0.000,0.000,0.700,7,2268,1577,-8.79,0.51,300.00
$IRIDIUM_FIX,4748.51,-12221.84,200907,090935
$TT8_MAMPS,0.026845
$HUMID,1911
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,48.6
$24V_AH,24.5,35.340
$10V_AH,10.7,17.813
$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,20.625,28.575,222.025,71.475,0.000,28.119,12.202,87.978,0.500,0.000,0.000,16.953,541.837,1566.777,354.387,634.512,259.236,33.320,674.936,0.000,649.469,0.000,2.520
$DEVICE_MAMPS,208.624,72.098,760.864,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.680,260.098,550.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15899,326
$CFSIZE,260165632,247414784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,065527,4805.733,-12221.633,10,1.2,10,18.3