version: 66.03
glider: 128
mission: 2
dive: 373
start: 9 21 107 1 49 16
data:
$ID,128
$MISSION,2
$DIVE,373
$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,60
$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,636.79877
$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,-68210.883
$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,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,43
$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
$GPS1,013038,4807.822,-12223.710,28,1.5,28,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.0
$GPS2,014815,4807.938,-12223.799,12,1.3,12,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.133
$KALMAN_X,-4972.7,-47.2,4.2,4712.4,-123.9
$KALMAN_Y,-4251.7,375.0,9.5,4382.8,153.8
$MHEAD_RNG_PITCHd_Wd,127.1,6450,-11.3,-5.278
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.81,-146.6,0.0,0.0,0,104,0.00,0.00,-74.03,0.000,6,0.000,0.000,6,2269,3399
$GC,107,-0.81,-146.6,3.6,-3.5,14,126,10.35,2.33,0.00,0.000,4,0.212,0.046,2542,3644,3403
$GC,189,-0.81,-146.6,14.5,-7.8,28,195,0.00,2.22,0.00,0.000,6,0.000,0.027,2542,2231,3404
$GC,264,-0.81,-146.6,19.5,-6.5,41,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2229,3405
$GC,340,-0.81,-146.6,24.6,-6.4,49,344,0.00,2.38,0.00,0.000,4,0.000,0.048,2536,3650,3405
$GC,368,-0.81,-146.6,26.6,-7.5,51,373,0.00,2.20,0.00,0.000,6,0.000,0.027,2536,2246,3405
$GC,566,-0.81,-146.6,40.0,-6.7,69,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2242,3405
$GC,757,-0.81,-146.6,53.5,-7.0,87,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2243,3406
$GC,1076,-0.81,-146.6,75.6,-6.9,117,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2243,3406
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1379,-0.28,0.0,95.3,6.1,145,1496,0.60,0.00,111.68,0.758,6,0.113,0.000,2727,2150,2800
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1500,0.81,146.6,98.0,0.0,157,1619,1.05,2.45,110.25,0.695,4,0.077,0.044,3074,3537,2201
$GC,1643,0.81,146.6,90.2,8.6,170,1649,0.00,2.28,0.00,0.000,6,0.000,0.029,3083,2160,2199
$GC,1970,0.81,146.6,63.3,8.0,201,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2158,2199
$GC,2286,0.81,146.6,38.2,7.6,231,2290,0.00,2.30,0.00,0.000,4,0.000,0.041,3086,740,2199
$GC,2309,0.81,146.6,36.4,7.5,232,2315,0.00,2.25,0.00,0.000,6,0.000,0.032,3086,2150,2199
$GC,2506,0.81,146.6,21.6,7.3,251,2510,0.00,2.30,0.00,0.000,4,0.000,0.046,3086,3555,2199
$GC,2559,0.81,146.6,17.4,8.1,257,2566,0.00,2.25,0.00,0.000,6,0.000,0.030,3095,2140,2199
$GC,2634,0.81,146.6,11.5,7.7,270,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2138,2199
$GC,2709,0.81,146.6,5.9,7.6,283,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2138,2199
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2771,begin surface coast
$FINISH,0.3,1.001403
$STATE,2804,end surface coast,CONTROL_FINISHED_OK
$STATE,2804,begin surface
$SM_CCo,2823,242.90,0.650,0,0,203,636.80
$SM_GC,0.98,0.00,0.00,242.90,0.000,0.000,0.650,12,2261,203,-8.78,0.31,636.80
$IRIDIUM_FIX,4751.72,-12223.57,210907,050552
$TT8_MAMPS,0.026078
$HUMID,1852
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,24.5,36.732
$10V_AH,10.7,18.662
$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,20.675,23.225,221.925,242.900,0.000,137.739,91.108,447.289,1.750,0.000,0.000,14.383,503.896,1667.585,507.462,609.618,858.054,33.322,832.062,0.000,614.328,0.000,11.232
$DEVICE_MAMPS,211.692,61.360,757.796,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.982,233.609,506.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16003,300
$CFSIZE,260165632,246849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,024137,4807.672,-12223.674,20,1.2,37,18.3