version: 66.03
glider: 128
mission: 2
dive: 376
start: 9 21 107 4 41 37
data:
$ID,128
$MISSION,2
$DIVE,376
$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,60
$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,350
$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,-68295.742
$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,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,48
$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
$GPS1,043627,4807.220,-12223.220,10,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.3
$GPS2,044037,4807.229,-12223.230,31,1.2,31,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.088
$KALMAN_X,-5537.3,108.4,-93.2,5919.7,-156.2
$KALMAN_Y,-4425.1,229.5,261.0,3139.3,-184.2
$MHEAD_RNG_PITCHd_Wd,104.5,4967,-11.3,-5.278
$D_GRID,105
$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,-0.81,-146.6,0.0,0.0,0,105,0.00,0.00,-76.72,0.000,2,0.000,0.000,19,2263,3263
$GC,109,-0.81,-146.6,3.2,-3.0,14,128,10.23,2.33,-2.83,0.000,4,0.210,0.058,2542,3650,3398
$GC,284,-0.81,-146.6,20.6,-7.0,44,291,0.00,2.25,0.00,0.000,6,0.000,0.028,2542,2227,3400
$GC,482,-0.81,-146.6,34.3,-7.2,63,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2225,3401
$GC,673,-0.81,-146.6,47.3,-6.8,81,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2225,3401
$GC,864,-0.81,-146.6,59.9,-6.7,99,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2225,3402
$GC,1185,-0.81,-146.6,79.4,-5.2,129,1189,0.00,2.33,0.00,0.000,4,0.000,0.047,2535,3639,3401
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1424,begin apogee
$GC,1432,-0.28,0.0,95.3,6.6,150,1549,0.60,0.00,111.20,0.758,6,0.114,0.000,2724,2151,2799
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1550,begin climb
$GC,1553,0.81,146.6,97.9,0.0,162,1667,1.08,0.00,110.47,0.696,6,0.077,0.000,3079,2150,2202
$GC,1985,0.81,146.6,67.1,7.8,203,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2150,2199
$GC,2303,0.81,146.6,42.4,7.8,233,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2150,2199
$GC,2495,0.81,146.6,28.2,7.3,251,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2149,2199
$GC,2690,0.81,146.6,13.9,7.2,276,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2150,2199
$GC,2766,0.81,146.6,8.8,7.1,289,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2150,2199
$GC,2840,0.81,146.6,3.8,6.6,302,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2150,2199
$STATE,2878,end climb,SURFACE_DEPTH_REACHED
$STATE,2878,begin surface coast
$FINISH,0.5,1.024230
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2944,98.72,0.686,0,0,1372,350.04
$SM_GC,1.07,0.00,0.00,98.72,0.000,0.000,0.686,7,2262,1372,-8.79,0.34,350.04
$IRIDIUM_FIX,4748.51,-12226.29,210907,070749
$TT8_MAMPS,0.026078
$HUMID,1908
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,41.6
$24V_AH,24.5,36.957
$10V_AH,10.7,18.784
$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,20.550,9.425,221.675,98.725,0.000,25.381,15.602,92.647,0.250,0.000,0.000,33.334,523.682,1512.444,359.615,654.545,264.717,33.319,681.836,0.000,652.347,0.000,2.509
$DEVICE_MAMPS,210.158,58.292,757.796,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.152,254.244,534.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,317
$CFSIZE,260165632,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,053326,4806.985,-12222.979,11,1.2,28,18.3