version: 66.03
glider: 128
mission: 2
dive: 331
start: 9 19 107 9 4 23
data:
$ID,128
$MISSION,2
$DIVE,331
$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,-67324.312
$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,31
$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
$GPS1,085937,4805.429,-12221.580,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,090321,4805.413,-12221.559,9,1.6,9,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.085
$KALMAN_X,-552.8,-116.0,22.0,3113.7,42.5
$KALMAN_Y,-1687.8,54.2,6.4,-2531.6,-278.4
$MHEAD_RNG_PITCHd_Wd,104.6,1031,-10.6,-5.026
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,99,0.00,0.00,-71.30,0.000,2,0.000,0.000,6,2261,3368
$GC,102,-0.77,-146.6,3.6,-3.6,13,121,10.35,2.97,-0.62,0.000,4,0.211,0.064,2554,4002,3402
$GC,413,-0.77,-146.6,30.8,-7.5,55,419,0.00,2.85,0.00,0.000,6,0.000,0.028,2554,2225,3404
$GC,610,-0.77,-146.6,43.8,-6.6,74,615,0.00,2.85,0.00,0.000,4,0.000,0.047,2554,493,3404
$GC,638,-0.77,-146.6,45.7,-6.9,76,643,0.00,2.88,0.00,0.000,6,0.000,0.038,2552,2249,3404
$GC,836,-0.77,-146.6,58.2,-6.2,94,840,0.00,2.95,0.00,0.000,4,0.000,0.058,2547,4010,3404
$GC,864,-0.77,-146.6,60.2,-7.2,96,869,0.00,2.83,0.00,0.000,6,0.000,0.029,2547,2243,3404
$GC,1191,-0.77,-146.6,81.1,-6.4,126,1195,0.00,2.85,0.00,0.000,4,0.000,0.048,2547,501,3404
$GC,1219,-0.77,-146.6,83.2,-7.2,128,1224,0.00,2.85,0.00,0.000,6,0.000,0.037,2543,2256,3404
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1410,-0.28,0.0,95.2,6.3,145,1527,0.57,0.00,111.25,0.759,6,0.111,0.000,2726,2142,2799
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1530,0.77,146.6,97.7,0.0,157,1648,1.02,0.00,111.00,0.706,6,0.077,0.000,3065,2141,2201
$GC,1966,0.77,146.6,67.3,7.7,199,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2141,2199
$GC,2285,0.77,146.6,43.7,7.5,229,2289,0.00,3.00,0.00,0.000,4,0.000,0.054,3065,3912,2198
$GC,2313,0.77,146.6,41.5,8.5,231,2318,0.00,2.85,0.00,0.000,6,0.000,0.033,3077,2165,2198
$GC,2511,0.77,146.6,26.8,6.9,249,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2164,2198
$GC,2708,0.77,146.6,12.7,7.2,276,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2164,2199
$GC,2782,0.77,146.6,7.5,7.1,289,2788,0.00,2.95,0.00,0.000,4,0.000,0.053,3086,390,2198
$GC,2834,0.77,146.6,4.1,6.5,298,2841,0.00,2.88,0.00,0.000,6,0.000,0.038,3086,2154,2198
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,1.0,1.023364
$STATE,2914,end surface coast,CONTROL_FINISHED_OK
$STATE,2914,begin surface
$SM_CCo,2933,68.80,0.701,0,0,1577,300.00
$SM_GC,1.31,0.00,0.00,68.80,0.000,0.000,0.701,9,2260,1577,-8.79,0.28,300.00
$IRIDIUM_FIX,4748.51,-12224.57,190907,121235
$TT8_MAMPS,0.026845
$HUMID,1892
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,42.4
$24V_AH,24.5,33.877
$10V_AH,10.7,16.915
$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,20.725,35.025,222.250,68.800,0.000,24.966,12.828,94.798,0.500,0.000,0.000,11.242,527.465,1483.968,349.330,627.047,260.698,33.313,671.385,0.000,647.104,0.000,2.511
$DEVICE_MAMPS,210.925,68.263,758.563,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.439,242.049,526.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16020,312
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,095509,4805.099,-12221.228,7,1.6,7,18.3