version: 66.03
glider: 128
mission: 2
dive: 538
start: 9 27 107 8 0 51
data:
$ID,128
$MISSION,2
$DIVE,538
$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,-71756.422
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2720
$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,66
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2850
$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
$GPS1,075156,4805.426,-12221.512,29,1.8,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.8
$GPS2,075951,4805.429,-12221.514,12,2.0,12,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.189
$KALMAN_X,-21973.1,-36.8,60.2,24472.2,-58.6
$KALMAN_Y,-13208.9,92.5,-63.8,9050.6,6.4
$MHEAD_RNG_PITCHd_Wd,118.0,1017,-18.2,-10.000
$D_GRID,110
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-58.45,0.000,2,0.000,0.000,7,2359,2734
$GC,92,-1.19,-146.6,3.0,-6.7,11,122,9.30,2.28,-14.43,0.000,4,0.203,0.045,2329,965,3449
$GC,427,-1.19,-146.6,54.9,-15.1,49,433,0.00,2.22,0.00,0.000,6,0.000,0.032,2321,2345,3452
$STATE,664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,664,begin apogee
$GC,672,-0.28,0.0,90.9,14.9,72,790,0.98,0.00,111.60,0.734,6,0.118,0.000,2623,2141,2849
$STATE,790,end apogee,CONTROL_FINISHED_OK
$STATE,790,begin climb
$GC,794,1.19,146.6,97.1,0.0,84,913,1.45,2.45,110.70,0.688,4,0.076,0.041,3101,3555,2250
$GC,1178,1.31,238.5,87.6,5.8,119,1257,0.00,2.22,69.22,0.715,6,0.000,0.027,3111,2156,1876
$GC,1576,1.34,263.0,53.4,8.9,157,1598,0.12,0.00,19.98,0.751,6,0.068,0.000,3163,2156,1777
$GC,1917,1.34,265.9,16.1,9.9,192,1923,0.00,0.00,3.88,0.529,6,0.000,0.000,3163,2155,1766
$GC,1992,1.34,265.9,8.3,10.4,205,1998,0.00,2.25,0.00,0.000,4,0.000,0.038,3173,758,1765
$GC,2028,1.35,274.3,4.9,9.6,211,2041,0.00,2.25,7.75,0.732,6,0.000,0.031,3173,2163,1730
$STATE,2062,end climb,SURFACE_DEPTH_REACHED
$STATE,2062,begin surface coast
$FINISH,0.5,1.024711
$STATE,2086,end surface coast,CONTROL_FINISHED_OK
$STATE,2086,begin surface
$SM_CCo,2108,71.15,0.664,0,0,1219,400.08
$SM_GC,1.41,0.00,0.00,71.15,0.000,0.000,0.664,15,2360,1219,-8.46,0.28,400.08
$IRIDIUM_FIX,4748.51,-12221.84,270907,111112
$TT8_MAMPS,0.026845
$HUMID,1898
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,50.2
$24V_AH,24.4,49.158
$10V_AH,10.7,25.140
$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,20.925,14.250,323.125,71.150,0.000,57.414,74.562,176.123,0.250,0.000,0.000,13.565,365.472,962.491,397.689,505.217,446.240,33.335,692.222,0.000,517.391,0.000,2.524
$DEVICE_MAMPS,203.255,46.020,750.893,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,160.848,169.889,373.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9633,221
$CFSIZE,260165632,242683904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,083825,4805.322,-12221.294,35,1.5,35,18.3