version: 66.03
glider: 128
mission: 2
dive: 458
start: 9 24 107 9 23 7
data:
$ID,128
$MISSION,2
$DIVE,458
$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,-70044.844
$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,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
$GPS1,091753,4805.084,-12220.956,8,2.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.0
$GPS2,092207,4805.108,-12220.989,27,1.7,27,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.052
$KALMAN_X,-13868.9,136.9,-165.4,17066.1,-167.7
$KALMAN_Y,-11407.9,-260.6,202.4,6738.9,-9.5
$MHEAD_RNG_PITCHd_Wd,122.2,200,-35.0,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.97,-20.0,0.0,0.0,0,94,0.00,0.00,-62.17,0.000,6,0.000,0.000,12,2265,2883
$GC,97,-1.99,-41.5,2.1,-1.4,12,116,8.73,2.38,-2.50,0.000,4,0.207,0.050,2173,843,2971
$GC,140,-1.99,-41.5,6.2,-8.4,19,147,0.00,2.28,0.00,0.000,6,0.000,0.031,2165,2251,2971
$GC,216,-2.00,-42.6,10.2,-5.1,32,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2251,2971
$GC,291,-2.00,-46.9,13.5,-4.5,45,298,0.00,2.28,-0.30,0.000,4,0.000,0.048,2165,846,2992
$GC,335,-2.00,-48.7,15.7,-5.0,52,342,0.00,2.25,0.00,0.000,6,0.000,0.031,2155,2253,2992
$GC,411,-2.00,-48.7,20.4,-6.3,65,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2252,2992
$GC,602,-2.00,-48.7,32.9,-6.5,83,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2252,2993
$GC,793,-2.00,-48.7,46.0,-7.1,101,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2252,2993
$GC,984,-2.00,-48.7,59.2,-7.0,119,988,0.00,2.28,0.00,0.000,4,0.000,0.036,2155,835,2993
$GC,1058,-2.00,-48.7,64.3,-6.8,125,1063,0.12,2.25,0.00,0.000,6,0.190,0.032,2171,2255,2993
$GC,1389,-2.00,-48.7,87.2,-7.1,156,1393,0.00,2.28,0.00,0.000,4,0.000,0.045,2163,3654,2993
$GC,1408,-2.00,-48.7,88.4,-7.0,157,1412,0.00,2.22,0.00,0.000,6,0.000,0.028,2162,2227,2993
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1525,-0.28,0.0,95.5,6.0,167,1572,1.95,0.00,37.38,0.791,6,0.160,0.000,2718,2156,2799
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1575,2.00,48.7,96.4,0.0,172,1622,2.17,0.00,37.95,0.714,6,0.074,0.000,3464,2156,2600
$GC,1941,2.00,48.7,51.9,13.1,207,1945,0.00,2.33,0.00,0.000,4,0.000,0.042,3464,3555,2598
$GC,1998,2.00,48.7,43.9,14.1,212,2002,0.00,2.25,0.00,0.000,6,0.000,0.029,3475,2153,2598
$GC,2196,2.00,48.7,18.9,11.8,230,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2151,2598
$GC,2271,2.00,48.7,10.5,11.2,243,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2151,2598
$GC,2345,2.00,48.7,2.3,10.8,256,2352,0.00,2.28,0.00,0.000,4,0.000,0.040,3485,741,2598
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,0.8,1.024633
$STATE,2374,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2398,151.23,0.660,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,151.23,0.000,0.000,0.660,23,2258,1372,-8.75,0.20,350.04
$IRIDIUM_FIX,4748.51,-12210.23,240907,121213
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,43.3
$24V_AH,24.9,42.860
$10V_AH,10.7,22.072
$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,23.325,27.575,75.325,151.225,0.000,30.650,14.088,91.727,0.500,0.000,0.000,29.302,470.657,1214.115,317.808,535.625,287.731,33.324,585.313,0.000,533.083,0.000,2.513
$DEVICE_MAMPS,207.090,89.739,790.777,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,185.652,204.255,440.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12854,261
$CFSIZE,260165632,244678656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,100644,4805.024,-12220.945,11,1.7,28,18.3