version: 66.03
glider: 128
mission: 2
dive: 500
start: 9 26 107 0 43 22
data:
$ID,128
$MISSION,2
$DIVE,500
$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,-70894.461
$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,50
$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
$GPS1,003727,4806.498,-12222.252,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.7
$GPS2,004221,4806.506,-12222.246,13,1.4,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.124
$KALMAN_X,-18744.4,-250.7,-93.2,20703.4,-45.4
$KALMAN_Y,-13233.6,203.8,146.1,10748.9,-155.5
$MHEAD_RNG_PITCHd_Wd,121.4,3187,-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,29,-0.81,-146.6,0.0,0.0,0,112,0.00,0.00,-81.15,0.000,3,0.000,0.000,8,2268,3398
$GC,116,-0.81,-146.6,3.7,-3.5,15,135,10.32,2.30,0.00,0.000,4,0.209,0.044,2540,3634,3403
$GC,281,-0.81,-146.6,22.7,-7.3,41,287,0.00,2.20,0.00,0.000,6,0.000,0.027,2540,2230,3404
$GC,479,-0.81,-146.6,35.9,-6.8,60,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2228,3405
$GC,670,-0.81,-146.6,47.9,-6.1,78,674,0.00,2.35,0.00,0.000,4,0.000,0.045,2535,3642,3405
$GC,692,-0.81,-146.6,49.6,-7.3,79,698,0.00,2.17,0.00,0.000,6,0.000,0.026,2535,2244,3405
$GC,890,-0.81,-146.6,62.7,-6.4,98,894,0.00,2.30,0.00,0.000,4,0.000,0.045,2526,3638,3405
$GC,940,-0.81,-146.6,66.3,-7.1,102,947,0.08,2.17,0.00,0.000,6,0.123,0.026,2550,2250,3405
$GC,1265,-0.81,-146.6,86.5,-5.7,133,1269,0.00,2.28,0.00,0.000,4,0.000,0.045,2542,3641,3405
$GC,1295,-0.81,-146.6,88.4,-6.4,135,1299,0.00,2.17,0.00,0.000,6,0.000,0.026,2541,2240,3404
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1412,-0.28,0.0,95.4,5.9,145,1530,0.57,0.00,112.10,0.750,6,0.110,0.000,2723,2156,2800
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1534,0.81,146.6,97.9,0.0,157,1653,1.08,2.40,111.40,0.693,4,0.077,0.041,3076,3537,2201
$GC,1677,0.81,146.6,90.7,8.1,171,1681,0.00,2.28,0.00,0.000,6,0.000,0.028,3085,2161,2200
$GC,2007,0.81,146.6,65.6,7.4,201,2011,0.00,2.33,0.00,0.000,4,0.000,0.043,3085,3548,2198
$GC,2103,0.81,146.6,56.9,8.5,209,2107,0.00,2.25,0.00,0.000,6,0.000,0.028,3094,2145,2198
$GC,2433,0.81,146.6,31.4,7.3,239,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2144,2198
$GC,2634,0.81,146.6,16.3,7.4,262,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2144,2198
$GC,2709,0.81,146.6,11.0,7.0,275,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2144,2198
$GC,2785,0.81,146.6,5.8,6.8,288,2791,0.00,2.30,0.00,0.000,4,0.000,0.044,3094,3541,2198
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,0.5,1.024660
$STATE,2876,end surface coast,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$SM_CCo,2898,100.35,0.682,0,0,1372,350.04
$SM_GC,1.22,0.00,0.00,100.35,0.000,0.000,0.682,17,2226,1372,-8.76,-0.68,350.04
$IRIDIUM_FIX,4751.72,-12219.12,260907,030309
$TT8_MAMPS,0.026845
$HUMID,1904
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,44.6
$24V_AH,24.5,45.924
$10V_AH,10.7,23.775
$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,20.750,31.675,223.500,100.350,0.000,25.101,17.845,115.841,0.250,0.000,0.000,14.563,514.749,1448.843,388.948,613.750,348.066,33.328,715.797,0.000,629.143,0.000,2.512
$DEVICE_MAMPS,209.391,70.564,750.126,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.841,239.031,512.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,304
$CFSIZE,260165632,243593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,013429,4806.177,-12222.001,9,2.1,28,18.3