version: 66.03
glider: 128
mission: 2
dive: 327
start: 9 19 107 4 45 37
data:
$ID,128
$MISSION,2
$DIVE,327
$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,-67224.812
$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,29
$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
$GPS1,043957,4806.862,-12222.939,24,2.1,43,18.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.0
$GPS2,044435,4806.838,-12222.975,12,2.1,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.083
$KALMAN_X,-547.4,-130.5,4.0,1387.9,-143.8
$KALMAN_Y,-491.2,-70.8,-19.9,-938.8,-186.8
$MHEAD_RNG_PITCHd_Wd,103.7,4191,-10.6,-5.026
$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,-0.77,-146.6,0.0,0.0,0,98,0.00,0.00,-71.45,0.000,2,0.000,0.000,7,2266,3306
$GC,101,-0.77,-146.6,3.1,-2.7,13,120,10.18,3.00,-2.00,0.000,4,0.205,0.056,2564,480,3398
$GC,278,-0.77,-146.6,18.9,-6.9,44,285,0.00,2.92,0.00,0.000,6,0.000,0.038,2563,2255,3400
$GC,350,-0.77,-146.6,23.6,-6.5,52,354,0.00,2.97,0.00,0.000,4,0.000,0.058,2558,4004,3401
$GC,378,-0.77,-146.6,25.4,-6.9,54,383,0.00,2.85,0.00,0.000,6,0.000,0.029,2558,2238,3400
$GC,575,-0.77,-146.6,38.3,-6.6,72,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2237,3401
$GC,766,-0.77,-146.6,50.7,-6.5,90,771,0.00,3.00,0.00,0.000,4,0.000,0.057,2550,4015,3402
$GC,794,-0.77,-146.6,52.7,-7.3,92,799,0.00,2.83,0.00,0.000,6,0.000,0.029,2550,2245,3401
$GC,1122,-0.77,-146.6,73.7,-6.4,122,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2244,3401
$GC,1437,-0.77,-146.6,93.8,-6.3,152,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2244,3401
$STATE,1456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1456,begin apogee
$GC,1463,-0.28,0.0,95.0,5.9,154,1580,0.55,0.00,110.97,0.760,6,0.112,0.000,2725,2139,2799
$STATE,1581,end apogee,CONTROL_FINISHED_OK
$STATE,1581,begin climb
$GC,1584,0.77,146.6,97.5,0.0,166,1701,1.02,0.00,110.95,0.707,6,0.078,0.000,3064,2139,2201
$GC,2019,0.77,146.6,67.8,7.6,208,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2139,2199
$GC,2338,0.77,146.6,44.2,7.0,238,2343,0.00,3.00,0.00,0.000,4,0.000,0.054,3064,3907,2198
$GC,2366,0.77,146.6,41.8,8.5,240,2371,0.00,2.83,0.00,0.000,6,0.000,0.032,3067,2171,2199
$GC,2564,0.77,146.6,27.8,6.9,258,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2170,2198
$GC,2759,0.77,146.6,14.4,6.9,283,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2170,2198
$GC,2833,0.77,146.6,9.4,6.8,296,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2170,2198
$GC,2907,0.77,146.6,4.6,6.4,309,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2170,2198
$STATE,2956,end climb,SURFACE_DEPTH_REACHED
$STATE,2956,begin surface coast
$FINISH,0.8,1.023991
$STATE,2997,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3016,73.50,0.703,0,0,1577,300.00
$SM_GC,1.80,0.00,0.00,73.50,0.000,0.000,0.703,8,2270,1577,-8.79,0.57,300.00
$IRIDIUM_FIX,4748.51,-12221.84,190907,070733
$TT8_MAMPS,0.026845
$HUMID,1903
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,50.5
$24V_AH,24.5,33.526
$10V_AH,10.7,16.735
$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,20.450,23.675,221.925,73.500,0.000,30.619,15.434,118.909,0.750,0.000,0.000,33.796,538.423,1563.724,349.529,647.099,292.464,33.335,670.488,0.000,644.571,0.000,2.522
$DEVICE_MAMPS,204.789,61.360,760.097,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.551,257.713,548.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15911,325
$CFSIZE,260165632,248102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,053832,4806.544,-12222.599,32,1.3,49,18.3