version: 66.03
glider: 128
mission: 2
dive: 501
start: 9 26 107 1 39 52
data:
$ID,128
$MISSION,2
$DIVE,501
$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,-70929.562
$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,54
$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
$GPS1,013429,4806.177,-12222.001,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.8
$GPS2,013853,4806.188,-12222.009,13,2.3,32,18.3
$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,-18924.3,-221.7,-26.4,21081.6,-46.9
$KALMAN_Y,-13310.7,214.1,68.9,10303.2,-197.4
$MHEAD_RNG_PITCHd_Wd,118.5,2530,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.81,-146.6,0.0,0.0,0,112,0.00,0.00,-80.53,0.000,6,0.000,0.000,17,2226,3398
$GC,116,-0.81,-146.6,3.9,-3.7,15,135,10.18,2.25,0.00,0.000,4,0.205,0.035,2551,850,3403
$GC,181,-0.81,-146.6,14.9,-12.6,26,188,0.00,2.25,0.00,0.000,6,0.000,0.031,2544,2240,3404
$GC,257,-0.81,-146.6,20.0,-6.7,39,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2240,3404
$GC,448,-0.81,-146.6,32.1,-6.8,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2240,3405
$GC,639,-0.81,-146.6,44.9,-6.9,75,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2241,3405
$GC,830,-0.81,-146.6,58.3,-7.1,93,834,0.00,2.22,0.00,0.000,4,0.000,0.036,2545,856,3405
$GC,860,-0.81,-146.6,60.4,-7.8,95,864,0.00,2.22,0.00,0.000,6,0.000,0.031,2543,2251,3405
$GC,1184,-0.81,-146.6,82.8,-6.6,125,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2251,3405
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1373,begin apogee
$GC,1381,-0.28,0.0,95.4,6.5,143,1498,0.57,0.00,112.00,0.750,6,0.107,0.000,2727,2128,2800
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1499,begin climb
$GC,1502,0.81,146.6,98.1,0.0,155,1620,1.05,2.33,110.97,0.693,4,0.074,0.039,3083,769,2201
$GC,1639,0.81,146.6,91.2,7.9,167,1646,0.00,2.30,0.00,0.000,6,0.000,0.031,3083,2146,2201
$GC,1969,0.81,146.6,64.8,8.1,198,1973,0.00,2.35,0.00,0.000,4,0.000,0.044,3083,3559,2199
$GC,2002,0.81,146.6,61.5,8.7,200,2008,0.00,2.22,0.00,0.000,6,0.000,0.028,3091,2166,2199
$GC,2332,0.81,146.6,36.5,7.5,231,2336,0.00,2.30,0.00,0.000,4,0.000,0.043,3091,3555,2199
$GC,2361,0.81,146.6,33.7,9.1,233,2365,0.00,2.25,0.00,0.000,6,0.000,0.028,3101,2139,2199
$GC,2560,0.81,146.6,18.2,7.8,253,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2138,2199
$GC,2635,0.81,146.6,12.6,7.5,266,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2138,2199
$GC,2710,0.81,146.6,6.8,7.9,279,2716,0.00,2.22,0.00,0.000,4,0.000,0.039,3110,754,2199
$GC,2723,0.81,146.6,5.7,7.7,281,2730,0.00,2.25,0.00,0.000,6,0.000,0.031,3110,2160,2199
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,0.4,1.001101
$STATE,2836,end surface coast,CONTROL_FINISHED_OK
$STATE,2836,begin surface
$SM_CCo,2858,100.68,0.675,0,0,1372,350.04
$SM_GC,1.17,0.00,0.00,100.68,0.000,0.000,0.675,14,2268,1372,-8.77,0.51,350.04
$IRIDIUM_FIX,4748.51,-12220.12,260907,040415
$TT8_MAMPS,0.026078
$HUMID,1896
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,32.2
$24V_AH,24.5,45.996
$10V_AH,10.7,23.816
$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,20.575,27.450,222.975,100.675,0.000,30.911,12.561,93.980,1.000,0.000,0.000,34.472,505.248,1435.915,376.310,621.086,303.541,33.328,699.340,0.000,610.137,0.000,9.354
$DEVICE_MAMPS,204.789,65.195,750.126,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.317,237.456,507.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16000,301
$CFSIZE,260165632,243564544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,023031,4805.857,-12221.734,42,1.8,42,18.3