version: 66.03
glider: 128
mission: 2
dive: 378
start: 9 21 107 6 33 40
data:
$ID,128
$MISSION,2
$DIVE,378
$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,-68344.602
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,062845,4806.747,-12222.677,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.2
$GPS2,063239,4806.750,-12222.677,15,1.7,15,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.093
$KALMAN_X,-5903.1,169.2,-83.7,6900.0,-151.6
$KALMAN_Y,-4171.6,-104.0,88.1,2502.3,-171.7
$MHEAD_RNG_PITCHd_Wd,106.9,3847,-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,-76.55,0.000,2,0.000,0.000,16,2268,3261
$GC,109,-0.81,-146.6,3.2,-2.8,14,128,10.30,2.30,-2.90,0.000,4,0.212,0.059,2545,3639,3399
$GC,243,-0.81,-146.6,17.4,-7.0,37,249,0.00,2.22,0.00,0.000,6,0.000,0.028,2545,2233,3400
$GC,316,-0.81,-146.6,22.5,-6.9,47,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2231,3401
$GC,507,-0.81,-146.6,35.2,-6.6,65,511,0.00,2.20,0.00,0.000,4,0.000,0.037,2545,854,3402
$GC,551,-0.81,-146.6,38.4,-7.2,68,557,0.00,2.22,0.00,0.000,6,0.000,0.033,2544,2241,3401
$GC,749,-0.81,-146.6,51.7,-6.7,87,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,3402
$GC,1067,-0.81,-146.6,72.6,-6.4,117,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2241,3402
$GC,1385,-0.81,-146.6,93.7,-6.6,147,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,3402
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1411,-0.28,0.0,95.1,6.4,149,1529,0.55,0.00,111.28,0.756,6,0.110,0.000,2722,2138,2799
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1532,0.81,146.6,97.8,0.0,161,1649,1.08,0.00,110.93,0.694,6,0.077,0.000,3077,2138,2201
$GC,1968,0.81,146.6,67.2,7.7,203,1972,0.00,2.38,0.00,0.000,4,0.000,0.044,3076,3561,2198
$GC,2013,0.81,146.6,63.3,8.7,207,2017,0.00,2.25,0.00,0.000,6,0.000,0.029,3085,2159,2198
$GC,2342,0.81,146.6,38.0,7.2,237,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2158,2198
$GC,2540,0.81,146.6,23.2,7.2,256,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2158,2198
$GC,2739,0.81,146.6,8.8,7.3,287,2745,0.00,2.30,0.00,0.000,4,0.000,0.045,3084,3555,2198
$GC,2769,0.81,146.6,6.3,7.5,292,2776,0.00,2.22,0.00,0.000,6,0.000,0.030,3092,2151,2198
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,0.4,1.002581
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2907,96.00,0.685,0,0,1372,350.04
$SM_GC,1.20,0.00,0.00,96.00,0.000,0.000,0.685,6,2275,1372,-8.80,0.71,350.04
$IRIDIUM_FIX,4748.51,-12224.57,210907,090906
$TT8_MAMPS,0.026078
$HUMID,1918
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.2,18.6
$24V_AH,24.5,37.100
$10V_AH,10.7,18.864
$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,20.600,18.400,222.200,96.000,0.000,27.380,17.131,90.454,1.500,0.000,0.000,16.565,518.009,1493.090,371.476,609.047,269.164,33.323,680.581,0.000,619.066,0.000,11.380
$DEVICE_MAMPS,211.692,59.059,756.262,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.033,246.695,528.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15967,313
$CFSIZE,260165632,246730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,072501,4806.499,-12222.317,39,1.8,39,18.3