version: 66.03
glider: 128
mission: 2
dive: 471
start: 9 24 107 21 39 10
data:
$ID,128
$MISSION,2
$DIVE,471
$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,-70306.828
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,213407,4807.583,-12223.465,12,2.0,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.5
$GPS2,213809,4807.597,-12223.469,9,1.7,9,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,-0.112
$KALMAN_X,-15327.5,-10.0,-134.7,15576.4,-139.4
$KALMAN_Y,-11545.0,197.7,164.2,11065.5,-38.7
$MHEAD_RNG_PITCHd_Wd,115.6,5698,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.81,-146.6,0.0,0.0,0,111,0.00,0.00,-80.65,0.000,2,0.000,0.000,11,2274,3372
$GC,115,-0.81,-146.6,3.5,-3.3,15,134,10.27,2.38,-0.50,0.000,4,0.207,0.050,2553,852,3401
$GC,438,-0.81,-146.6,32.6,-6.7,55,445,0.00,2.25,0.00,0.000,6,0.000,0.032,2550,2238,3403
$GC,636,-0.81,-146.6,45.4,-6.4,74,640,0.00,2.25,0.00,0.000,4,0.000,0.036,2549,840,3403
$GC,816,-0.81,-146.6,57.4,-6.8,89,822,0.00,2.28,0.00,0.000,6,0.000,0.033,2549,2247,3403
$GC,1145,-0.81,-146.6,77.0,-5.6,120,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2247,3403
$STATE,1446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1446,begin apogee
$GC,1454,-0.28,0.0,95.2,6.0,149,1571,0.55,0.00,111.35,0.749,6,0.106,0.000,2726,2126,2800
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1575,0.81,146.6,97.6,0.0,161,1695,1.05,2.47,110.88,0.703,4,0.074,0.042,3074,3553,2201
$GC,1712,0.81,146.6,90.3,8.1,174,1719,0.00,2.30,0.00,0.000,6,0.000,0.028,3083,2165,2200
$GC,2042,0.81,146.6,62.9,8.1,205,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2162,2199
$GC,2367,0.81,146.6,37.0,7.8,236,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2163,2198
$GC,2558,0.81,146.6,22.6,7.2,254,2562,0.00,2.30,0.00,0.000,4,0.000,0.043,3083,3556,2199
$GC,2587,0.81,146.6,20.4,7.7,256,2591,0.00,2.25,0.00,0.000,6,0.000,0.028,3093,2140,2199
$GC,2795,0.81,146.6,4.9,7.4,292,2802,0.00,2.22,0.00,0.000,4,0.000,0.040,3099,755,2199
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,1.5,1.025215
$STATE,2858,end surface coast,CONTROL_FINISHED_OK
$STATE,2858,begin surface
$SM_CCo,2881,99.75,0.677,0,0,1372,350.04
$SM_GC,1.21,0.00,0.00,99.75,0.000,0.000,0.677,6,2262,1372,-8.79,0.37,350.04
$IRIDIUM_FIX,4748.51,-12221.84,250907,000052
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,43.6
$24V_AH,24.5,43.818
$10V_AH,10.7,22.610
$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,20.800,23.300,222.225,99.750,0.000,29.450,12.655,97.963,0.500,0.000,0.000,11.165,504.815,1445.465,373.422,637.098,284.796,33.324,704.151,0.000,652.796,0.000,2.513
$DEVICE_MAMPS,207.090,49.855,749.359,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.765,238.239,511.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15977,303
$CFSIZE,260165632,244330496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,223008,4807.455,-12223.283,38,1.2,38,18.3