version: 66.03
glider: 128
mission: 2
dive: 377
start: 9 21 107 5 38 38
data:
$ID,128
$MISSION,2
$DIVE,377
$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,-68327.406
$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,38
$R_STBD_OVSHOOT,51
$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
$GPS1,053326,4806.985,-12222.979,11,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.2
$GPS2,053738,4807.000,-12222.987,17,1.3,29,18.3
$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,-5769.4,154.7,-97.3,6411.2,-152.6
$KALMAN_Y,-4293.0,58.1,191.5,2820.7,-191.6
$MHEAD_RNG_PITCHd_Wd,104.6,4445,-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,-76.47,0.000,2,0.000,0.000,7,2262,3248
$GC,108,-0.81,-146.6,3.0,-2.6,14,128,10.32,2.38,-3.28,0.000,4,0.211,0.060,2546,3640,3400
$GC,230,-0.81,-146.6,16.2,-7.4,35,237,0.00,2.25,0.00,0.000,6,0.000,0.028,2546,2221,3403
$GC,310,-0.81,-146.6,21.5,-6.8,47,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2219,3403
$GC,501,-0.81,-146.6,34.7,-6.9,65,504,0.00,2.17,0.00,0.000,4,0.000,0.038,2546,859,3403
$GC,541,-0.81,-146.6,37.5,-6.8,68,545,0.00,2.22,0.00,0.000,6,0.000,0.033,2543,2247,3404
$GC,738,-0.81,-146.6,50.8,-6.7,86,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2247,3404
$GC,1058,-0.81,-146.6,72.4,-7.0,116,1062,0.00,2.22,0.00,0.000,4,0.000,0.037,2543,858,3403
$GC,1087,-0.81,-146.6,74.5,-7.5,118,1091,0.00,2.22,0.00,0.000,6,0.000,0.033,2543,2252,3403
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1412,begin apogee
$GC,1419,-0.28,0.0,95.7,6.6,148,1536,0.57,0.00,111.38,0.755,6,0.110,0.000,2726,2132,2800
$STATE,1536,end apogee,CONTROL_FINISHED_OK
$STATE,1537,begin climb
$GC,1539,0.81,146.6,98.4,0.0,160,1658,1.05,2.38,110.47,0.696,4,0.075,0.039,3083,762,2201
$GC,1692,0.81,146.6,90.0,8.4,174,1698,0.00,2.30,0.00,0.000,6,0.000,0.031,3083,2148,2201
$GC,2019,0.81,146.6,63.3,7.8,205,2023,0.00,2.33,0.00,0.000,4,0.000,0.044,3083,3554,2199
$GC,2052,0.81,146.6,60.1,9.2,207,2058,0.00,2.22,0.00,0.000,6,0.000,0.029,3092,2159,2199
$GC,2379,0.81,146.6,34.2,7.4,238,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2158,2199
$GC,2568,0.81,146.6,19.6,7.8,256,2574,0.00,2.28,0.00,0.000,4,0.000,0.041,3101,749,2199
$GC,2592,0.81,146.6,17.8,7.6,260,2598,0.00,2.25,0.00,0.000,6,0.000,0.032,3100,2156,2198
$GC,2667,0.81,146.6,12.2,7.4,273,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2156,2198
$GC,2741,0.81,146.6,6.8,7.2,286,2747,0.00,2.28,0.00,0.000,4,0.000,0.046,3101,3551,2199
$GC,2794,0.81,146.6,2.9,7.7,295,2800,0.00,2.22,0.00,0.000,6,0.000,0.029,3109,2146,2198
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.6,1.024330
$STATE,2840,end surface coast,CONTROL_FINISHED_OK
$STATE,2840,begin surface
$SM_CCo,2859,100.00,0.682,0,0,1373,350.04
$SM_GC,1.07,0.00,0.00,100.00,0.000,0.000,0.682,16,2268,1373,-8.76,0.51,350.04
$IRIDIUM_FIX,4748.51,-12242.37,210907,080802
$TT8_MAMPS,0.026845
$HUMID,1891
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,42.9
$24V_AH,24.5,37.029
$10V_AH,10.7,18.824
$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,20.775,32.050,221.850,100.000,0.000,30.287,15.685,93.845,0.500,0.000,0.000,31.031,508.607,1444.443,371.616,630.331,278.284,33.319,703.319,0.000,622.832,0.000,2.511
$DEVICE_MAMPS,210.925,59.826,755.495,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.096,237.443,511.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15908,303
$CFSIZE,260165632,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,062845,4806.747,-12222.677,10,1.4,10,18.3