version: 66.03
glider: 128
mission: 2
dive: 473
start: 9 24 107 23 29 58
data:
$ID,128
$MISSION,2
$DIVE,473
$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,-70339.555
$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,45
$R_STBD_OVSHOOT,38
$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
$GPS1,232457,4807.237,-12223.144,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.4
$GPS2,232857,4807.270,-12223.173,13,2.0,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.115
$KALMAN_X,-15807.2,4.0,-128.5,16401.8,-209.8
$KALMAN_Y,-11195.0,140.7,102.9,10231.4,96.6
$MHEAD_RNG_PITCHd_Wd,116.8,4990,-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,-80.55,0.000,2,0.000,0.000,7,2257,3370
$GC,115,-0.81,-146.6,3.6,-3.3,15,134,10.35,2.35,-0.57,0.000,4,0.209,0.050,2551,848,3401
$GC,250,-0.81,-146.6,18.8,-7.0,38,256,0.00,2.28,0.00,0.000,6,0.000,0.032,2549,2258,3403
$GC,322,-0.81,-146.6,23.9,-7.0,46,326,0.00,2.30,0.00,0.000,4,0.000,0.048,2545,3654,3403
$GC,368,-0.81,-146.6,27.0,-7.0,50,373,0.00,2.25,0.00,0.000,6,0.000,0.028,2545,2224,3403
$GC,566,-0.81,-146.6,40.7,-6.9,68,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2221,3403
$GC,758,-0.81,-146.6,53.3,-6.3,86,762,0.00,2.38,0.00,0.000,4,0.000,0.046,2537,3662,3403
$GC,787,-0.81,-146.6,55.2,-6.9,88,793,0.00,2.20,0.00,0.000,6,0.000,0.027,2537,2246,3403
$GC,1115,-0.81,-146.6,76.3,-6.5,119,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2245,3403
$STATE,1395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1395,begin apogee
$GC,1403,-0.28,0.0,95.4,6.6,146,1520,0.57,0.00,111.38,0.752,6,0.111,0.000,2720,2153,2800
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1524,0.81,146.6,98.1,0.0,158,1641,1.08,0.00,111.20,0.706,6,0.078,0.000,3075,2152,2201
$GC,1960,0.81,146.6,67.7,7.8,200,1964,0.00,2.35,0.00,0.000,4,0.000,0.043,3075,3559,2198
$GC,1990,0.81,146.6,65.2,9.3,202,1996,0.00,2.25,0.00,0.000,6,0.000,0.028,3082,2157,2198
$GC,2317,0.81,146.6,39.5,7.8,233,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2156,2198
$GC,2516,0.81,146.6,24.2,7.4,252,2520,0.00,2.30,0.00,0.000,4,0.000,0.043,3082,3558,2199
$GC,2539,0.81,146.6,22.4,7.4,254,2543,0.00,2.22,0.00,0.000,6,0.000,0.028,3092,2146,2198
$GC,2748,0.81,146.6,7.4,7.2,288,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2146,2198
$GC,2822,0.81,146.6,2.3,7.0,301,2828,0.00,2.33,0.00,0.000,4,0.000,0.043,3092,3561,2199
$STATE,2833,end climb,SURFACE_DEPTH_REACHED
$STATE,2833,begin surface coast
$FINISH,0.7,1.024973
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2873,98.90,0.683,0,0,1371,350.04
$SM_GC,1.16,0.00,0.00,98.90,0.000,0.000,0.683,7,2228,1371,-8.79,-0.62,350.04
$IRIDIUM_FIX,4748.51,-12226.29,250907,020257
$TT8_MAMPS,0.026845
$HUMID,1894
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,46.2
$24V_AH,24.5,43.963
$10V_AH,10.7,22.689
$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,20.700,27.425,222.575,98.900,0.000,25.826,12.898,95.436,0.750,0.000,0.000,15.265,508.393,1454.191,379.972,601.638,289.777,33.323,701.635,0.000,614.093,0.000,2.516
$DEVICE_MAMPS,209.391,61.360,751.660,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.308,242.478,516.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15890,306
$CFSIZE,260165632,244281344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,002037,4806.979,-12222.945,28,1.3,28,18.3