version: 66.03
glider: 128
mission: 2
dive: 401
start: 9 22 107 4 16 57
data:
$ID,128
$MISSION,2
$DIVE,401
$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,-68807.141
$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,44
$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
$GPS1,041202,4806.040,-12221.840,7,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.0
$GPS2,041556,4806.030,-12221.847,10,1.9,16,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.116
$KALMAN_X,-8654.2,-58.9,27.5,10794.2,-86.5
$KALMAN_Y,-5136.4,405.6,-24.5,1737.3,-164.1
$MHEAD_RNG_PITCHd_Wd,117.5,2177,-11.3,-5.278
$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,24,begin dive
$GC,27,-0.81,-146.6,0.0,0.0,0,110,0.00,0.00,-80.97,0.000,3,0.000,0.000,10,2268,3398
$GC,114,-0.81,-146.6,3.8,-3.9,15,132,10.23,2.35,0.00,0.000,4,0.208,0.036,2553,842,3403
$GC,436,-0.81,-146.6,30.5,-7.0,58,442,0.00,2.25,0.00,0.000,6,0.000,0.033,2547,2244,3405
$GC,633,-0.81,-146.6,43.2,-6.5,77,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2245,3405
$GC,824,-0.81,-146.6,55.2,-6.4,95,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2245,3405
$GC,1144,-0.81,-146.6,75.7,-6.5,125,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2245,3405
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1455,-0.28,0.0,95.3,6.0,154,1572,0.55,0.00,111.43,0.747,6,0.109,0.000,2723,2123,2799
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1576,0.81,146.6,97.8,0.0,166,1691,1.08,0.00,110.55,0.689,6,0.077,0.000,3079,2122,2202
$GC,2008,0.81,146.6,67.0,8.0,207,2012,0.00,2.40,0.00,0.000,4,0.000,0.045,3079,3562,2199
$GC,2037,0.81,146.6,64.4,9.1,209,2043,0.00,2.25,0.00,0.000,6,0.000,0.029,3083,2158,2199
$GC,2364,0.81,146.6,37.7,7.9,240,2368,0.00,2.33,0.00,0.000,4,0.000,0.044,3083,3566,2198
$GC,2397,0.81,146.6,34.6,9.2,242,2403,0.00,2.25,0.00,0.000,6,0.000,0.029,3092,2146,2198
$GC,2595,0.81,146.6,18.9,8.0,262,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2146,2199
$GC,2669,0.81,146.6,13.2,7.8,275,2676,0.00,2.25,0.00,0.000,4,0.000,0.040,3100,744,2199
$GC,2699,0.81,146.6,11.0,7.5,280,2706,0.00,2.25,0.00,0.000,6,0.000,0.032,3100,2159,2199
$GC,2775,0.81,146.6,5.3,7.6,293,2781,0.00,2.25,0.00,0.000,4,0.000,0.046,3101,3549,2199
$GC,2799,0.81,146.6,3.4,7.7,297,2805,0.00,2.20,0.00,0.000,6,0.000,0.029,3109,2149,2199
$STATE,2821,end climb,SURFACE_DEPTH_REACHED
$STATE,2821,begin surface coast
$FINISH,0.7,1.024347
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2870,97.20,0.676,0,0,1372,350.04
$SM_GC,1.02,0.00,0.00,97.20,0.000,0.000,0.676,9,2270,1372,-8.79,0.59,350.04
$IRIDIUM_FIX,4748.51,-12224.57,220907,070750
$TT8_MAMPS,0.026078
$HUMID,1896
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,42.9
$24V_AH,24.5,38.794
$10V_AH,10.7,19.801
$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,20.700,23.100,221.975,97.200,0.000,23.743,14.420,93.993,0.500,0.000,0.000,17.925,505.150,1459.893,371.862,617.849,270.031,33.323,695.544,0.000,628.617,0.000,2.512
$DEVICE_MAMPS,207.857,52.156,747.058,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.407,242.151,516.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15876,306
$CFSIZE,260165632,246116352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,050737,4805.765,-12221.554,34,1.0,34,18.3