version: 66.03
glider: 128
mission: 2
dive: 326
start: 9 19 107 3 45 47
data:
$ID,128
$MISSION,2
$DIVE,326
$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,-67190.383
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,034056,4807.099,-12223.329,10,1.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.9
$GPS2,034445,4807.080,-12223.317,13,1.9,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.080
$KALMAN_X,-479.8,-105.8,1.7,875.8,-144.8
$KALMAN_Y,-405.6,-46.2,16.8,-637.3,-189.5
$MHEAD_RNG_PITCHd_Wd,102.3,4802,-10.6,-5.026
$D_GRID,101
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,104,0.00,0.00,-75.72,0.000,6,0.000,0.000,8,2256,3399
$GC,107,-0.77,-146.6,3.5,-3.1,14,125,10.30,2.97,0.00,0.000,4,0.209,0.044,2568,493,3403
$GC,428,-0.77,-146.6,31.3,-6.7,56,434,0.00,2.90,0.00,0.000,6,0.000,0.037,2565,2260,3405
$GC,626,-0.77,-146.6,43.0,-6.0,75,630,0.00,2.92,0.00,0.000,4,0.000,0.046,2565,488,3405
$GC,676,-0.77,-146.6,46.5,-6.9,79,681,0.00,2.88,0.00,0.000,6,0.000,0.038,2565,2249,3405
$GC,874,-0.77,-146.6,58.7,-6.0,97,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2250,3405
$GC,1192,-0.77,-146.6,77.5,-5.9,127,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2251,3405
$STATE,1487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1487,begin apogee
$GC,1493,-0.28,0.0,95.1,5.9,155,1610,0.50,0.00,111.35,0.767,6,0.107,0.000,2727,2130,2799
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1614,0.77,146.6,97.5,0.0,167,1731,1.02,0.00,110.95,0.713,6,0.076,0.000,3065,2131,2201
$GC,2049,0.77,146.6,68.2,7.4,209,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2130,2199
$GC,2368,0.77,146.6,44.8,7.0,239,2372,0.00,3.00,0.00,0.000,4,0.000,0.052,3065,3910,2199
$GC,2396,0.77,146.6,42.5,8.7,241,2401,0.00,2.85,0.00,0.000,6,0.000,0.034,3068,2166,2199
$GC,2594,0.77,146.6,27.9,7.3,259,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2166,2199
$GC,2789,0.77,146.6,14.5,6.8,284,2795,0.00,2.95,0.00,0.000,4,0.000,0.054,3068,3910,2198
$GC,2825,0.77,146.6,11.7,7.3,290,2831,0.00,2.88,0.00,0.000,6,0.000,0.035,3079,2140,2199
$GC,2899,0.77,146.6,6.5,6.7,303,2906,0.00,2.90,0.00,0.000,4,0.000,0.051,3083,387,2198
$STATE,2994,end climb,SURFACE_DEPTH_REACHED
$STATE,2994,begin surface coast
$FINISH,0.4,1.007809
$STATE,3065,end surface coast,CONTROL_FINISHED_OK
$STATE,3065,begin surface
$SM_CCo,3086,83.10,0.700,0,0,1576,300.00
$SM_GC,1.59,0.00,0.00,83.10,0.000,0.000,0.700,7,2266,1576,-8.79,0.45,300.00
$IRIDIUM_FIX,4751.72,-12211.95,190907,060606
$TT8_MAMPS,0.026078
$HUMID,1909
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,47.5
$24V_AH,24.5,33.456
$10V_AH,10.7,16.693
$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,20.525,29.525,222.300,83.100,0.000,28.113,16.164,91.612,0.500,0.000,0.000,14.668,547.734,1598.185,362.652,655.445,258.152,33.331,687.852,0.000,670.735,0.000,2.519
$DEVICE_MAMPS,209.391,54.457,767.000,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.514,262.976,560.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15998,332
$CFSIZE,260165632,248127488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,043957,4806.862,-12222.939,24,2.1,43,18.3