version: 66.03
glider: 128
mission: 2
dive: 333
start: 9 19 107 10 47 2
data:
$ID,128
$MISSION,2
$DIVE,333
$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,-67399.664
$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,37
$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
$GPS1,104152,4805.176,-12220.932,13,3.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.2
$GPS2,104602,4805.153,-12220.925,34,1.6,39,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,0.035
$KALMAN_X,-746.1,29.4,36.6,3927.5,-67.2
$KALMAN_Y,-1935.3,-57.3,-26.8,-2625.1,-304.4
$MHEAD_RNG_PITCHd_Wd,296.5,299,-42.5,-5.026
$D_GRID,108
$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,26,-2.38,-12.9,0.0,0.0,0,83,0.00,0.00,-53.40,0.000,6,0.000,0.000,17,2268,2854
$GC,86,-2.39,-26.1,2.0,-1.5,10,105,8.23,2.97,-1.70,0.000,4,0.213,0.063,2033,3992,2909
$GC,409,-2.40,-33.4,11.5,-3.1,67,416,0.00,2.83,-0.50,0.000,6,0.000,0.029,2033,2232,2939
$GC,485,-2.40,-35.6,14.7,-4.4,80,492,0.00,2.97,0.00,0.000,4,0.000,0.048,2019,4010,2939
$GC,794,-2.40,-35.6,34.9,-7.3,115,801,0.00,2.80,0.00,0.000,6,0.000,0.028,2020,2244,2940
$GC,992,-2.40,-35.6,46.9,-5.8,134,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2244,2941
$GC,1184,-2.40,-35.9,56.6,-5.0,152,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2244,2940
$GC,1504,-2.41,-37.0,71.8,-4.7,182,1509,0.00,2.92,-0.10,0.000,4,0.000,0.058,2006,4004,2956
$GC,1522,-2.41,-37.1,72.9,-5.0,183,1528,0.17,2.80,0.00,0.000,6,0.193,0.028,2045,2230,2956
$GC,1847,-2.41,-37.1,89.9,-5.5,213,1851,0.00,2.95,0.00,0.000,4,0.000,0.049,2033,4008,2956
$GC,1864,-2.41,-37.1,90.8,-5.1,214,1868,0.00,2.78,0.00,0.000,6,0.000,0.029,2033,2256,2956
$STATE,1942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1942,begin apogee
$GC,1948,-0.28,0.0,95.1,5.2,221,1985,2.45,0.00,30.90,0.830,6,0.175,0.000,2725,2142,2799
$STATE,1986,end apogee,CONTROL_FINISHED_OK
$STATE,1986,begin climb
$GC,1989,2.41,37.1,95.8,0.0,225,2026,2.53,2.97,29.02,0.717,4,0.074,0.049,3611,403,2646
$GC,2043,2.41,37.1,91.1,11.2,229,2049,0.00,2.92,0.00,0.000,6,0.000,0.037,3611,2152,2646
$GC,2371,2.41,37.1,44.3,14.0,260,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2152,2645
$GC,2569,2.41,37.1,19.0,11.9,279,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2152,2645
$GC,2643,2.41,37.1,10.5,11.5,292,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2152,2645
$GC,2717,2.41,37.1,3.0,10.2,305,2723,0.00,2.92,0.00,0.000,4,0.000,0.051,3611,3910,2645
$STATE,2728,end climb,SURFACE_DEPTH_REACHED
$STATE,2728,begin surface coast
$FINISH,1.4,1.024360
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2774,118.50,0.680,0,0,1576,300.00
$SM_GC,1.23,0.00,0.00,118.50,0.000,0.000,0.680,14,2247,1576,-8.77,-0.08,300.00
$IRIDIUM_FIX,4745.30,-12222.84,190907,131349
$TT8_MAMPS,0.026078
$HUMID,1879
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,46.6
$24V_AH,25.1,33.976
$10V_AH,10.7,16.988
$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,24.300,34.725,59.925,118.500,0.000,29.339,12.442,88.638,0.500,0.000,0.000,41.286,553.805,1428.203,264.616,660.207,259.854,33.317,566.568,0.000,647.544,0.000,2.517
$DEVICE_MAMPS,213.226,62.894,829.894,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.862,246.115,524.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15909,311
$CFSIZE,260165632,247943168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,113623,4805.199,-12221.066,11,4.7,30,18.3