version: 66.03
glider: 128
mission: 2
dive: 374
start: 9 21 107 2 50 40
data:
$ID,128
$MISSION,2
$DIVE,374
$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,350
$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,-68226.867
$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,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
$GPS1,024137,4807.672,-12223.674,20,1.2,37,18.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.0
$GPS2,024939,4807.716,-12223.712,13,1.6,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.117
$KALMAN_X,-5287.6,58.0,-11.3,5045.9,-169.7
$KALMAN_Y,-4291.8,360.5,134.5,3904.0,66.8
$MHEAD_RNG_PITCHd_Wd,117.8,6047,-11.3,-5.278
$D_GRID,103
$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,-0.81,-146.6,0.0,0.0,0,152,0.00,0.00,-125.57,0.000,6,0.000,0.000,12,2262,3398
$GC,156,-0.81,-146.6,3.4,-3.1,23,174,10.18,2.30,0.00,0.000,4,0.206,0.044,2546,3634,3403
$GC,265,-0.81,-146.6,16.9,-7.1,42,272,0.00,2.22,0.00,0.000,6,0.000,0.028,2546,2220,3404
$GC,339,-0.81,-146.6,21.6,-6.1,53,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2217,3404
$GC,530,-0.81,-146.6,33.7,-6.2,71,534,0.00,2.38,0.00,0.000,4,0.000,0.047,2538,3648,3405
$GC,581,-0.81,-146.6,37.0,-6.3,75,585,0.00,2.20,0.00,0.000,6,0.000,0.027,2537,2240,3405
$GC,778,-0.81,-146.6,49.6,-6.3,93,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2238,3405
$GC,969,-0.81,-146.6,62.0,-6.3,111,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2237,3405
$GC,1288,-0.81,-146.6,82.1,-6.4,141,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2237,3405
$STATE,1498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1498,begin apogee
$GC,1505,-0.28,0.0,95.4,6.2,161,1622,0.57,0.00,111.43,0.754,6,0.110,0.000,2722,2146,2800
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1625,0.81,146.6,98.0,0.0,173,1743,1.08,2.50,110.18,0.693,4,0.078,0.044,3076,3547,2201
$GC,1778,0.81,146.6,89.2,9.4,187,1782,0.00,2.30,0.00,0.000,6,0.000,0.028,3084,2157,2200
$GC,2105,0.81,146.6,61.5,8.5,217,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2154,2199
$GC,2421,0.81,146.6,35.7,7.8,247,2425,0.00,2.30,0.00,0.000,4,0.000,0.044,3084,3544,2198
$GC,2442,0.81,146.6,33.8,8.5,248,2449,0.00,2.22,0.00,0.000,6,0.000,0.029,3093,2145,2199
$GC,2641,0.81,146.6,18.4,7.5,268,2647,0.00,2.33,0.00,0.000,4,0.000,0.044,3093,3552,2198
$GC,2665,0.81,146.6,16.4,7.7,272,2671,0.00,2.22,0.00,0.000,6,0.000,0.029,3103,2150,2198
$GC,2740,0.81,146.6,10.5,7.9,285,2747,0.00,2.25,0.00,0.000,4,0.000,0.041,3109,750,2198
$GC,2765,0.81,146.6,8.4,7.8,289,2771,0.00,2.22,0.00,0.000,6,0.000,0.032,3109,2144,2198
$GC,2840,0.81,146.6,2.6,7.8,302,2846,0.00,2.25,0.00,0.000,4,0.000,0.040,3114,750,2198
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2850,begin surface coast
$FINISH,1.5,1.024976
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2879,99.12,0.680,0,0,1372,350.04
$SM_GC,1.05,0.00,0.00,99.12,0.000,0.000,0.680,4,2255,1372,-8.80,0.17,350.04
$IRIDIUM_FIX,4748.51,-12219.12,210907,060621
$TT8_MAMPS,0.026078
$HUMID,1884
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,40.0
$24V_AH,24.5,36.814
$10V_AH,10.7,18.704
$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,20.750,32.250,221.600,99.125,0.000,57.721,37.350,222.572,0.250,0.000,0.000,15.350,497.856,1511.475,399.744,613.707,459.308,33.324,741.642,0.000,623.981,0.000,2.512
$DEVICE_MAMPS,206.323,62.894,753.961,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.735,237.491,514.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16039,305
$CFSIZE,260165632,246833152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,034114,4807.450,-12223.497,13,1.2,18,18.3