version: 66.03
glider: 128
mission: 2
dive: 426
start: 9 23 107 3 34 40
data:
$ID,128
$MISSION,2
$DIVE,426
$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,-69350.586
$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,42
$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
$GPS1,032945,4807.233,-12223.251,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.3
$GPS2,033339,4807.226,-12223.245,13,1.3,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.086
$KALMAN_X,-10743.2,-253.6,76.1,11301.3,-171.3
$KALMAN_Y,-8944.7,569.0,-150.8,7726.2,-172.0
$MHEAD_RNG_PITCHd_Wd,103.7,4971,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.81,-146.6,0.0,0.0,0,111,0.00,0.00,-81.65,0.000,2,0.000,0.000,5,2271,3382
$GC,115,-0.81,-146.6,3.6,-3.5,15,134,10.43,2.38,-0.32,0.000,4,0.214,0.048,2550,843,3401
$GC,359,-0.81,-146.6,26.7,-7.0,49,365,0.00,2.25,0.00,0.000,6,0.000,0.033,2550,2243,3403
$GC,557,-0.81,-146.6,38.7,-6.3,68,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2242,3403
$GC,748,-0.81,-146.6,50.8,-6.3,86,752,0.00,2.25,0.00,0.000,4,0.000,0.036,2550,842,3403
$GC,788,-0.81,-146.6,53.4,-6.5,89,792,0.00,2.25,0.00,0.000,6,0.000,0.033,2550,2249,3403
$GC,1116,-0.81,-146.6,73.5,-6.2,119,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2250,3403
$GC,1442,-0.81,-146.6,93.0,-6.0,150,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2250,3403
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1477,-0.28,0.0,95.1,6.2,153,1594,0.55,0.00,111.28,0.751,6,0.108,0.000,2726,2129,2800
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1595,begin climb
$GC,1598,0.81,146.6,97.5,0.0,165,1715,1.05,0.00,110.95,0.700,6,0.075,0.000,3074,2129,2201
$GC,2034,0.81,146.6,66.1,8.1,207,2038,0.00,2.38,0.00,0.000,4,0.000,0.044,3074,3555,2199
$GC,2072,0.81,146.6,62.7,9.0,210,2078,0.00,2.22,0.00,0.000,6,0.000,0.029,3083,2167,2199
$GC,2401,0.81,146.6,36.1,7.9,241,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2166,2198
$GC,2599,0.81,146.6,20.3,7.7,260,2603,0.00,2.28,0.00,0.000,4,0.000,0.039,3094,751,2198
$GC,2622,0.81,146.6,18.7,7.2,262,2629,0.00,2.28,0.00,0.000,6,0.000,0.032,3093,2155,2198
$GC,2697,0.81,146.6,12.8,7.8,275,2704,0.00,2.30,0.00,0.000,4,0.000,0.045,3093,3559,2199
$GC,2735,0.81,146.6,9.8,8.1,281,2741,0.00,2.25,0.00,0.000,6,0.000,0.029,3104,2140,2199
$GC,2810,0.81,146.6,3.8,7.5,294,2816,0.00,2.22,0.00,0.000,4,0.000,0.041,3109,750,2199
$GC,2823,0.81,146.6,3.0,7.4,296,2830,0.00,2.25,0.00,0.000,6,0.000,0.032,3109,2163,2199
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,0.9,1.024918
$STATE,2880,end surface coast,CONTROL_FINISHED_OK
$STATE,2880,begin surface
$SM_CCo,2901,100.10,0.683,0,0,1372,350.04
$SM_GC,1.07,0.00,0.00,100.10,0.000,0.000,0.683,15,2267,1372,-8.77,0.48,350.04
$IRIDIUM_FIX,4748.51,-12224.57,230907,060653
$TT8_MAMPS,0.026078
$HUMID,1907
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,39.1
$24V_AH,24.5,40.599
$10V_AH,10.7,20.796
$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,20.825,27.575,222.225,100.100,0.000,24.397,12.442,96.599,0.250,0.000,0.000,15.303,508.702,1472.376,392.704,604.698,279.702,33.326,711.698,0.000,617.233,0.000,2.506
$DEVICE_MAMPS,213.993,65.195,750.893,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.020,241.922,516.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15943,306
$CFSIZE,260165632,245489664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,042552,4806.965,-12222.864,12,2.6,31,18.3