version: 66.03
glider: 128
mission: 2
dive: 334
start: 9 19 107 11 45 25
data:
$ID,128
$MISSION,2
$DIVE,334
$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,-67435.719
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,113623,4805.199,-12221.066,11,4.7,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.6
$GPS2,114423,4805.153,-12221.056,14,4.3,33,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.037
$KALMAN_X,-784.7,79.4,1.8,3789.8,-30.9
$KALMAN_Y,-1972.8,-121.2,-45.6,-2503.4,-173.3
$MHEAD_RNG_PITCHd_Wd,118.9,292,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.38,-12.9,0.0,0.0,0,79,0.00,0.00,-53.33,0.000,6,0.000,0.000,14,2247,2853
$GC,83,-2.39,-26.8,1.9,-1.4,10,102,8.25,2.97,-1.75,0.000,4,0.212,0.055,2044,493,2912
$GC,407,-2.41,-37.0,8.0,-2.3,67,414,0.00,2.88,-0.82,0.000,6,0.000,0.035,2034,2268,2952
$GC,482,-2.41,-38.5,11.2,-4.6,80,489,0.00,2.92,0.00,0.000,4,0.000,0.042,2034,490,2953
$GC,793,-2.41,-38.5,32.2,-6.5,119,799,0.00,2.83,0.00,0.000,6,0.000,0.033,2021,2252,2954
$GC,990,-2.41,-38.5,45.9,-6.6,138,995,0.00,2.90,0.00,0.000,4,0.000,0.042,2021,478,2955
$GC,1299,-2.41,-38.5,66.0,-5.9,165,1304,0.15,2.85,0.00,0.000,6,0.198,0.032,2041,2259,2954
$GC,1624,-2.41,-39.5,84.3,-4.8,195,1628,0.00,2.90,0.00,0.000,4,0.000,0.044,2041,482,2954
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1850,-0.28,0.0,95.2,5.0,214,1886,2.42,0.00,30.42,0.831,6,0.169,0.000,2723,2154,2800
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1890,2.41,39.5,95.9,0.0,218,1933,2.53,3.05,30.83,0.719,4,0.072,0.051,3600,3908,2637
$GC,2238,2.41,39.5,44.9,14.1,249,2243,0.00,2.88,0.00,0.000,6,0.000,0.034,3613,2151,2636
$GC,2435,2.41,39.5,20.1,11.6,267,2440,0.00,2.95,0.00,0.000,4,0.000,0.051,3613,3907,2635
$GC,2508,2.41,39.5,11.0,12.4,279,2515,0.15,2.88,0.00,0.000,6,0.199,0.035,3595,2144,2636
$GC,2584,2.41,39.5,2.8,10.5,292,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2144,2635
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,1.6,1.024464
$STATE,2618,end surface coast,CONTROL_FINISHED_OK
$STATE,2618,begin surface
$SM_CCo,2639,124.35,0.675,0,0,1576,300.00
$SM_GC,1.26,0.00,0.00,124.35,0.000,0.000,0.675,5,2248,1576,-8.80,-0.06,300.00
$IRIDIUM_FIX,4748.51,-12220.12,190907,151558
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,39.6
$24V_AH,25.1,34.028
$10V_AH,10.7,17.031
$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,24.350,34.900,61.250,124.350,0.000,57.964,154.036,92.110,0.500,0.000,0.000,35.422,548.936,1297.373,263.144,730.036,428.142,33.314,591.623,0.000,722.256,0.000,2.508
$DEVICE_MAMPS,211.692,55.224,831.428,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.039,233.421,503.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,298
$CFSIZE,260165632,247914496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,123237,4805.139,-12220.934,31,1.1,31,18.3