version: 66.03
glider: 128
mission: 2
dive: 477
start: 9 25 107 3 12 21
data:
$ID,128
$MISSION,2
$DIVE,477
$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,-70402.281
$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,51
$R_STBD_OVSHOOT,42
$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
$GPS1,030721,4806.129,-12222.016,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,031120,4806.148,-12222.030,10,1.9,15,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.119
$KALMAN_X,-16113.9,-213.5,50.3,18159.2,-46.1
$KALMAN_Y,-11603.9,199.8,-111.7,8716.8,-161.2
$MHEAD_RNG_PITCHd_Wd,118.7,2479,-11.3,-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,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,-80.75,0.000,2,0.000,0.000,6,2233,3354
$GC,115,-0.81,-146.6,3.2,-2.9,15,134,10.45,0.00,-0.95,0.000,6,0.213,0.000,2550,2231,3401
$GC,203,-0.81,-146.6,14.1,-7.4,30,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2231,3401
$GC,278,-0.81,-146.6,19.1,-6.7,43,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2231,3402
$GC,349,-0.81,-146.6,24.0,-7.0,51,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2231,3402
$GC,540,-0.81,-146.6,36.6,-6.6,69,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2231,3403
$GC,731,-0.81,-146.6,48.5,-6.2,87,735,0.00,2.22,0.00,0.000,4,0.000,0.037,2551,843,3402
$GC,764,-0.81,-146.6,50.8,-6.9,89,770,0.00,2.25,0.00,0.000,6,0.000,0.032,2549,2253,3403
$GC,1092,-0.81,-146.6,71.6,-6.7,120,1096,0.00,2.30,0.00,0.000,4,0.000,0.047,2542,3657,3403
$GC,1125,-0.81,-146.6,74.1,-6.7,122,1132,0.00,2.22,0.00,0.000,6,0.000,0.028,2543,2225,3403
$GC,1455,-0.81,-146.6,94.8,-6.3,153,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2222,3403
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1476,-0.28,0.0,96.2,6.3,155,1594,0.57,0.00,111.43,0.755,6,0.112,0.000,2725,2222,2800
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1598,0.81,146.6,98.5,0.0,167,1715,1.05,0.00,111.22,0.703,6,0.077,0.000,3072,2222,2201
$GC,2034,0.81,146.6,66.5,8.3,209,2038,0.00,2.38,0.00,0.000,4,0.000,0.039,3082,769,2198
$GC,2080,0.81,146.6,62.7,8.4,213,2084,0.00,2.25,0.00,0.000,6,0.000,0.031,3082,2159,2199
$GC,2409,0.81,146.6,37.1,7.6,243,2413,0.00,2.30,0.00,0.000,4,0.000,0.044,3082,3559,2199
$GC,2449,0.81,146.6,33.4,8.0,246,2453,0.00,2.22,0.00,0.000,6,0.000,0.028,3092,2158,2199
$GC,2649,0.81,146.6,17.8,7.6,266,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2158,2199
$GC,2723,0.81,146.6,11.9,7.4,279,2729,0.00,2.28,0.00,0.000,4,0.000,0.040,3100,745,2199
$GC,2753,0.81,146.6,9.7,7.4,284,2759,0.00,2.25,0.00,0.000,6,0.000,0.031,3101,2154,2199
$GC,2828,0.81,146.6,4.2,7.3,297,2835,0.00,2.28,0.00,0.000,4,0.000,0.044,3100,3556,2199
$STATE,2861,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,0.5,1.024741
$STATE,2891,end surface coast,CONTROL_FINISHED_OK
$STATE,2891,begin surface
$SM_CCo,2913,97.97,0.684,0,0,1372,350.04
$SM_GC,1.17,0.00,0.00,97.97,0.000,0.000,0.684,16,2238,1372,-8.76,-0.34,350.04
$IRIDIUM_FIX,4751.72,-12219.12,250907,060625
$TT8_MAMPS,0.026845
$HUMID,1886
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,55.5
$24V_AH,24.5,44.251
$10V_AH,10.7,22.847
$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,20.775,27.050,222.650,97.975,0.000,24.313,12.648,93.131,0.500,0.000,0.000,17.149,513.160,1468.055,392.645,603.659,294.847,33.327,715.122,0.000,615.047,0.000,2.529
$DEVICE_MAMPS,213.226,46.787,755.495,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.477,246.026,519.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16022,308
$CFSIZE,260165632,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,040341,4805.806,-12221.739,10,2.4,29,18.3