version: 66.03
glider: 128
mission: 2
dive: 427
start: 9 23 107 4 31 15
data:
$ID,128
$MISSION,2
$DIVE,427
$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,-69387.352
$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,50
$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
$GPS1,042552,4806.965,-12222.864,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.5
$GPS2,043016,4806.953,-12222.861,14,5.1,33,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,-0.097
$KALMAN_X,-10657.9,-291.2,9.5,11792.7,-92.2
$KALMAN_Y,-9216.5,587.0,-95.9,7417.6,-238.3
$MHEAD_RNG_PITCHd_Wd,108.6,4288,-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,28,-0.81,-146.6,0.0,0.0,0,111,0.00,0.00,-81.00,0.000,2,0.000,0.000,15,2268,3365
$GC,115,-0.81,-146.6,3.5,-3.4,15,134,10.25,2.38,-0.68,0.000,4,0.209,0.051,2553,843,3401
$GC,389,-0.81,-146.6,28.1,-7.3,53,393,0.00,2.25,0.00,0.000,6,0.000,0.032,2550,2240,3403
$GC,586,-0.81,-146.6,41.0,-6.6,71,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2241,3403
$GC,777,-0.81,-146.6,52.7,-5.8,89,781,0.00,2.22,0.00,0.000,4,0.000,0.036,2550,848,3403
$GC,801,-0.81,-146.6,54.2,-6.7,91,805,0.00,2.25,0.00,0.000,6,0.000,0.033,2550,2263,3403
$GC,1133,-0.81,-146.6,75.0,-6.4,122,1137,0.00,2.28,0.00,0.000,4,0.000,0.049,2545,3651,3404
$GC,1155,-0.81,-146.6,76.7,-6.6,123,1162,0.00,2.22,0.00,0.000,6,0.000,0.028,2546,2222,3404
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1455,-0.28,0.0,95.5,6.4,151,1572,0.55,0.00,111.32,0.752,6,0.110,0.000,2721,2218,2799
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1575,0.81,146.6,98.3,0.0,163,1692,1.08,0.00,110.88,0.700,6,0.079,0.000,3074,2218,2201
$GC,2011,0.81,146.6,68.0,7.8,205,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2218,2200
$GC,2329,0.81,146.6,43.1,7.8,235,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2219,2199
$GC,2521,0.81,146.6,28.6,6.9,253,2525,0.00,2.33,0.00,0.000,4,0.000,0.039,3083,770,2199
$GC,2544,0.81,146.6,27.0,6.8,255,2548,0.00,2.22,0.00,0.000,6,0.000,0.032,3083,2160,2199
$GC,2748,0.81,146.6,12.0,7.5,282,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2160,2199
$GC,2822,0.81,146.6,6.7,7.2,295,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2160,2199
$GC,2896,0.81,146.6,2.2,5.9,308,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2160,2198
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,1.0,1.024892
$STATE,2947,end surface coast,CONTROL_FINISHED_OK
$STATE,2947,begin surface
$SM_CCo,2967,99.55,0.681,0,0,1372,350.04
$SM_GC,1.15,0.00,0.00,99.55,0.000,0.000,0.681,16,2269,1372,-8.77,0.54,350.04
$IRIDIUM_FIX,4748.51,-12226.29,230907,070722
$TT8_MAMPS,0.025311
$HUMID,1902
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,28.8
$24V_AH,24.5,40.671
$10V_AH,10.7,20.837
$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,20.725,18.275,222.200,99.550,0.000,30.877,15.135,94.958,0.750,0.000,0.000,36.135,523.179,1518.574,377.272,645.366,286.968,33.325,696.015,0.000,636.300,0.000,7.036
$DEVICE_MAMPS,208.624,65.195,752.427,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.295,253.590,534.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15946,317
$CFSIZE,260165632,245465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,052337,4806.670,-12222.524,36,1.0,36,18.3