version: 66.03
glider: 128
mission: 2
dive: 530
start: 9 27 107 2 22 42
data:
$ID,128
$MISSION,2
$DIVE,530
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$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,-71582.977
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,2350
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,45
$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
$GPS1,021432,4807.207,-12223.029,8,1.5,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.3
$GPS2,022145,4807.200,-12223.022,7,1.8,7,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.228
$KALMAN_X,-21810.2,-5.4,-150.5,22620.6,26.7
$KALMAN_Y,-13510.1,214.9,172.0,12269.7,-2.9
$MHEAD_RNG_PITCHd_Wd,132.7,4781,-18.2,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.19,-146.6,0.0,0.0,0,93,0.00,0.00,-63.75,0.000,2,0.000,0.000,19,2363,2863
$GC,97,-1.19,-146.6,3.8,-9.7,12,122,9.35,2.35,-10.00,0.000,4,0.204,0.046,2351,957,3400
$GC,427,-1.19,-146.6,54.1,-13.6,49,432,0.00,2.22,0.00,0.000,6,0.000,0.032,2348,2340,3404
$STATE,692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,692,begin apogee
$GC,700,-0.28,0.0,91.1,13.6,74,817,0.95,0.00,111.85,0.735,6,0.116,0.000,2642,2138,2800
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,821,1.19,146.6,96.8,0.0,86,940,1.42,2.50,110.45,0.687,4,0.071,0.041,3116,3556,2201
$GC,1105,1.30,231.2,90.8,6.1,112,1174,0.00,2.25,63.88,0.713,6,0.000,0.028,3127,2153,1856
$GC,1494,1.30,231.2,54.1,10.5,148,1498,0.00,2.25,0.00,0.000,4,0.000,0.038,3137,755,1855
$GC,1551,1.30,231.2,48.5,10.0,153,1555,0.00,2.25,0.00,0.000,6,0.000,0.031,3137,2156,1855
$GC,1750,1.31,243.6,29.1,9.4,171,1763,0.00,0.00,11.12,0.799,6,0.000,0.000,3137,2156,1806
$GC,1960,1.34,268.3,9.1,8.9,200,1989,0.10,2.35,19.90,0.726,4,0.076,0.038,3191,754,1706
$GC,1996,1.34,268.3,5.1,10.7,206,2003,0.00,2.28,0.00,0.000,6,0.000,0.031,3191,2158,1705
$STATE,2029,end climb,SURFACE_DEPTH_REACHED
$STATE,2029,begin surface coast
$FINISH,0.4,1.025036
$STATE,2053,end surface coast,CONTROL_FINISHED_OK
$STATE,2053,begin surface
$SM_CCo,2075,76.03,0.654,0,0,1168,400.08
$SM_GC,1.49,0.00,0.00,76.03,0.000,0.000,0.654,20,2354,1168,-8.50,0.14,400.08
$IRIDIUM_FIX,4748.51,-12221.84,270907,060620
$TT8_MAMPS,0.026078
$HUMID,1879
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,66.0,47.0
$24V_AH,24.5,48.449
$10V_AH,10.7,24.886
$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,20.950,19.025,317.200,76.025,0.000,58.381,29.686,175.727,0.250,0.000,0.000,11.873,360.831,946.518,384.942,501.808,409.519,33.345,686.556,0.000,511.986,0.000,2.517
$DEVICE_MAMPS,204.022,47.554,799.214,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.170,164.642,364.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9632,216
$CFSIZE,260165632,242868224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,025921,4807.010,-12222.782,8,1.2,8,18.3