version: 66.03
glider: 128
mission: 2
dive: 480
start: 9 25 107 6 2 28
data:
$ID,128
$MISSION,2
$DIVE,480
$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,-70482.578
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,055722,4805.280,-12221.228,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.5
$GPS2,060127,4805.283,-12221.226,12,1.8,12,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.107,-0.122
$KALMAN_X,-16515.1,-157.9,189.2,19360.6,-141.3
$KALMAN_Y,-11624.4,-20.5,-197.9,7441.9,-16.6
$MHEAD_RNG_PITCHd_Wd,120.5,594,-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,-146.6,0.0,0.0,0,112,0.00,0.00,-81.62,0.000,2,0.000,0.000,16,2271,3379
$GC,116,-0.81,-146.6,3.2,-2.8,15,136,10.27,2.38,-0.40,0.000,4,0.209,0.048,2550,845,3402
$GC,361,-0.81,-146.6,25.9,-6.9,50,367,0.00,2.25,0.00,0.000,6,0.000,0.031,2542,2247,3403
$GC,559,-0.81,-146.6,38.9,-6.8,69,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2247,3403
$GC,750,-0.81,-146.6,51.9,-6.9,87,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2247,3403
$GC,1069,-0.81,-146.6,73.6,-6.6,117,1073,0.00,2.33,0.00,0.000,4,0.000,0.048,2533,3661,3403
$GC,1143,-0.81,-146.6,78.8,-7.1,123,1147,0.00,2.22,0.00,0.000,6,0.000,0.028,2533,2227,3403
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1396,begin apogee
$GC,1404,-0.28,0.0,95.3,6.1,147,1521,0.60,0.00,111.35,0.754,6,0.111,0.000,2723,2157,2800
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1525,0.81,146.6,97.5,0.0,159,1643,1.08,0.00,111.22,0.703,6,0.077,0.000,3077,2157,2201
$GC,1961,0.81,146.6,66.2,7.7,201,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2156,2199
$GC,2280,0.81,146.6,41.7,7.8,231,2284,0.00,2.30,0.00,0.000,4,0.000,0.042,3077,3558,2198
$GC,2318,0.81,146.6,38.3,8.8,234,2325,0.00,2.22,0.00,0.000,6,0.000,0.028,3086,2153,2198
$GC,2516,0.81,146.6,22.7,7.4,253,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2152,2198
$GC,2716,0.81,146.6,7.9,7.4,285,2723,0.00,2.33,0.00,0.000,4,0.000,0.043,3086,3548,2199
$GC,2742,0.81,146.6,6.0,7.4,289,2748,0.00,2.22,0.00,0.000,6,0.000,0.028,3095,2142,2198
$STATE,2797,end climb,SURFACE_DEPTH_REACHED
$STATE,2797,begin surface coast
$FINISH,0.6,1.024460
$STATE,2827,end surface coast,CONTROL_FINISHED_OK
$STATE,2827,begin surface
$SM_CCo,2847,96.62,0.677,0,0,1372,350.04
$SM_GC,1.17,0.00,0.00,96.62,0.000,0.000,0.677,16,2267,1372,-8.76,0.48,350.04
$IRIDIUM_FIX,4745.30,-12220.12,250907,090924
$TT8_MAMPS,0.026845
$HUMID,1905
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.7,45.8
$24V_AH,24.5,44.470
$10V_AH,10.7,22.968
$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,20.675,18.475,222.575,96.625,0.000,29.885,12.905,96.906,0.500,0.000,0.000,14.355,500.099,1455.811,372.741,595.717,286.609,33.331,677.675,0.000,613.099,0.000,2.516
$DEVICE_MAMPS,208.624,87.438,753.961,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.466,242.896,512.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16020,304
$CFSIZE,260165632,244109312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,065237,4805.017,-12221.027,26,1.4,26,18.3