version: 66.03
glider: 128
mission: 2
dive: 355
start: 9 20 107 7 57 55
data:
$ID,128
$MISSION,2
$DIVE,355
$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,-67855.281
$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,43
$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
$GPS1,075221,4805.452,-12221.252,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.1
$GPS2,075653,4805.422,-12221.213,10,2.2,29,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,-0.142
$KALMAN_X,-2750.2,123.6,-100.9,5619.7,12.9
$KALMAN_Y,-4064.7,-239.8,-30.0,189.3,-240.6
$MHEAD_RNG_PITCHd_Wd,136.7,826,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,103,0.00,0.00,-75.28,0.000,6,0.000,0.000,8,2271,3398
$GC,106,-0.77,-146.6,3.3,-3.0,14,124,10.30,2.92,0.00,0.000,4,0.209,0.048,2553,3990,3402
$GC,390,-0.77,-146.6,28.2,-7.1,53,394,0.00,2.80,0.00,0.000,6,0.000,0.028,2553,2230,3404
$GC,587,-0.77,-146.6,41.1,-6.8,71,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2227,3404
$GC,778,-0.77,-146.6,53.2,-6.2,89,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2227,3404
$GC,1097,-0.77,-146.6,72.8,-6.3,119,1102,0.00,2.95,0.00,0.000,4,0.000,0.049,2542,3996,3404
$GC,1136,-0.77,-146.6,75.6,-7.5,122,1142,0.12,2.75,0.00,0.000,6,0.127,0.028,2574,2236,3404
$GC,1461,-0.77,-146.6,93.5,-5.3,152,1466,0.00,2.75,0.00,0.000,4,0.000,0.039,2575,516,3404
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1498,-0.28,0.0,95.1,5.8,154,1615,0.45,0.00,111.32,0.759,6,0.110,0.000,2721,2137,2800
$STATE,1615,end apogee,CONTROL_FINISHED_OK
$STATE,1615,begin climb
$GC,1618,0.77,146.6,97.5,0.0,166,1733,1.02,0.00,111.07,0.704,6,0.078,0.000,3060,2137,2201
$GC,2048,0.77,146.6,68.5,7.3,207,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2138,2199
$GC,2368,0.77,146.6,45.2,7.0,237,2372,0.00,2.92,0.00,0.000,4,0.000,0.047,3060,3907,2198
$GC,2397,0.77,146.6,43.0,8.0,239,2402,0.00,2.80,0.00,0.000,6,0.000,0.029,3070,2164,2198
$GC,2595,0.77,146.6,28.2,7.2,257,2599,0.00,2.88,0.00,0.000,4,0.000,0.042,3080,396,2198
$GC,2623,0.77,146.6,26.1,7.0,259,2628,0.00,2.83,0.00,0.000,6,0.000,0.032,3080,2154,2198
$GC,2827,0.77,146.6,11.2,7.3,287,2833,0.00,2.90,0.00,0.000,4,0.000,0.048,3080,3915,2198
$GC,2857,0.77,146.6,8.8,7.5,292,2863,0.00,2.83,0.00,0.000,6,0.000,0.030,3092,2144,2198
$GC,2932,0.77,146.6,3.3,7.2,305,2938,0.00,2.92,0.00,0.000,4,0.000,0.047,3092,3908,2198
$GC,2951,0.77,146.6,2.1,6.8,308,2958,0.12,2.80,0.00,0.000,6,0.130,0.029,3070,2146,2198
$STATE,2962,end climb,SURFACE_DEPTH_REACHED
$STATE,2962,begin surface coast
$FINISH,0.4,1.024644
$STATE,2997,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3016,73.20,0.700,0,0,1576,300.00
$SM_GC,1.05,0.00,0.00,73.20,0.000,0.000,0.700,10,2268,1576,-8.78,0.48,300.00
$IRIDIUM_FIX,4748.51,-12217.40,200907,101013
$TT8_MAMPS,0.026078
$HUMID,1904
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,48.8
$24V_AH,24.5,35.477
$10V_AH,10.7,17.894
$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,20.625,39.850,222.400,73.200,0.000,23.470,20.306,115.374,0.250,0.000,0.000,32.019,538.100,1543.870,355.597,652.582,295.589,33.316,683.463,0.000,651.711,0.000,4.286
$DEVICE_MAMPS,208.624,52.156,758.563,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.499,248.948,533.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15887,316
$CFSIZE,260165632,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,085038,4805.022,-12221.071,36,1.0,36,18.3