version: 66.03
glider: 128
mission: 2
dive: 478
start: 9 25 107 4 9 10
data:
$ID,128
$MISSION,2
$DIVE,478
$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,-70435.008
$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,55
$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
$GPS1,040341,4805.806,-12221.739,10,2.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.0
$GPS2,040811,4805.823,-12221.742,10,2.5,29,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.118
$KALMAN_X,-16244.1,-206.3,131.0,18557.4,-67.3
$KALMAN_Y,-11663.6,151.4,-178.1,8290.4,-130.4
$MHEAD_RNG_PITCHd_Wd,118.3,1780,-11.3,-5.278
$D_GRID,110
$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,29,-0.81,-146.6,0.0,0.0,0,112,0.00,0.00,-80.78,0.000,2,0.000,0.000,16,2238,3367
$GC,116,-0.81,-146.6,3.4,-3.1,15,135,10.23,2.28,-0.62,0.000,4,0.206,0.049,2555,859,3402
$GC,423,-0.81,-146.6,30.4,-6.4,56,427,0.00,2.25,0.00,0.000,6,0.000,0.032,2552,2256,3404
$GC,626,-0.81,-146.6,43.7,-6.5,75,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2256,3404
$GC,817,-0.81,-146.6,56.2,-6.3,93,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2256,3403
$GC,1136,-0.81,-146.6,76.6,-6.3,123,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2256,3404
$STATE,1441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1441,begin apogee
$GC,1448,-0.28,0.0,95.5,6.0,152,1565,0.52,0.00,111.70,0.755,6,0.107,0.000,2720,2136,2800
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1569,0.81,146.6,97.9,0.0,164,1688,1.08,2.47,111.25,0.703,4,0.076,0.042,3076,3561,2201
$GC,1705,0.81,146.6,90.7,8.4,177,1712,0.00,2.33,0.00,0.000,6,0.000,0.028,3086,2158,2199
$GC,2035,0.81,146.6,63.5,8.2,208,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2158,2198
$GC,2360,0.81,146.6,36.8,8.1,239,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2157,2198
$GC,2552,0.81,146.6,21.7,7.5,257,2556,0.00,2.30,0.00,0.000,4,0.000,0.042,3086,3554,2199
$GC,2586,0.81,146.6,18.9,8.2,260,2593,0.00,2.25,0.00,0.000,6,0.000,0.028,3095,2140,2198
$GC,2662,0.81,146.6,13.1,7.7,273,2668,0.00,2.25,0.00,0.000,4,0.000,0.040,3103,741,2199
$GC,2681,0.81,146.6,11.6,7.7,276,2687,0.00,2.28,0.00,0.000,6,0.000,0.031,3103,2161,2199
$GC,2756,0.81,146.6,5.9,7.5,289,2763,0.00,2.30,0.00,0.000,4,0.000,0.044,3103,3552,2199
$GC,2782,0.81,146.6,3.9,7.6,293,2789,0.12,2.22,0.00,0.000,6,0.140,0.028,3079,2139,2199
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.7,1.024518
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2860,99.80,0.677,0,0,1372,350.04
$SM_GC,1.23,0.00,0.00,99.80,0.000,0.000,0.677,13,2276,1372,-8.77,0.74,350.04
$IRIDIUM_FIX,4748.51,-12224.57,250907,070703
$TT8_MAMPS,0.026845
$HUMID,1903
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,46.8
$24V_AH,24.5,44.324
$10V_AH,10.7,22.887
$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,20.675,23.275,222.950,99.800,0.000,22.551,19.389,104.800,0.500,0.000,0.000,32.094,500.451,1450.657,380.438,621.720,296.983,33.327,694.804,0.000,618.231,0.000,2.517
$DEVICE_MAMPS,206.323,49.088,755.495,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.947,237.013,511.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,303
$CFSIZE,260165632,244158464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,045937,4805.547,-12221.442,27,1.2,27,18.3