version: 66.03
glider: 128
mission: 2
dive: 502
start: 9 26 107 2 35 40
data:
$ID,128
$MISSION,2
$DIVE,502
$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,-70943.672
$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,51
$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
$GPS1,023031,4805.857,-12221.734,42,1.8,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,023439,4805.866,-12221.764,11,1.3,11,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.109
$KALMAN_X,-19152.0,-170.9,52.8,21482.7,-89.0
$KALMAN_Y,-13363.2,197.8,-33.3,9877.2,-192.4
$MHEAD_RNG_PITCHd_Wd,113.9,1861,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-75.88,0.000,2,0.000,0.000,15,2268,3255
$GC,111,-0.81,-146.6,3.1,-2.7,14,130,10.18,0.00,-3.05,0.000,6,0.204,0.000,2553,2268,3399
$GC,199,-0.81,-146.6,13.8,-7.6,29,205,0.00,2.33,0.00,0.000,4,0.000,0.036,2553,843,3401
$GC,229,-0.81,-146.6,15.9,-6.8,34,235,0.00,2.25,0.00,0.000,6,0.000,0.031,2552,2240,3401
$GC,310,-0.81,-146.6,20.8,-5.7,47,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,3401
$GC,500,-0.81,-146.6,32.5,-5.9,65,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,3402
$GC,692,-0.81,-146.6,43.9,-6.6,83,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,3402
$GC,883,-0.81,-146.6,56.3,-6.7,101,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,3402
$GC,1201,-0.81,-146.6,77.1,-6.5,131,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2240,3402
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1493,-0.28,0.0,95.5,6.3,158,1610,0.52,0.00,111.62,0.749,6,0.107,0.000,2721,2134,2800
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1614,0.81,146.6,98.2,0.0,170,1734,1.08,2.47,111.22,0.691,4,0.076,0.042,3077,3555,2201
$GC,1759,0.81,146.6,90.7,8.2,184,1763,0.00,2.30,0.00,0.000,6,0.000,0.028,3084,2167,2199
$GC,2088,0.81,146.6,64.5,8.1,214,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2165,2198
$GC,2414,0.81,146.6,38.8,8.1,245,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2165,2198
$GC,2605,0.81,146.6,24.0,7.2,263,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2165,2198
$GC,2804,0.81,146.6,9.3,7.2,294,2810,0.00,2.30,0.00,0.000,4,0.000,0.044,3084,3560,2198
$GC,2840,0.81,146.6,6.7,7.2,300,2847,0.00,2.25,0.00,0.000,6,0.000,0.028,3094,2142,2198
$GC,2916,0.81,146.6,2.1,5.7,313,2922,0.00,2.25,0.00,0.000,4,0.000,0.040,3096,744,2197
$STATE,2927,end climb,SURFACE_DEPTH_REACHED
$STATE,2927,begin surface coast
$FINISH,0.5,1.002823
$STATE,2967,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2990,102.38,0.675,0,0,1372,350.04
$SM_GC,1.22,0.00,0.00,102.38,0.000,0.000,0.675,20,2268,1372,-8.75,0.51,350.04
$IRIDIUM_FIX,4748.51,-12224.57,260907,050520
$TT8_MAMPS,0.026078
$HUMID,1918
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,50.2
$24V_AH,24.5,46.068
$10V_AH,10.7,23.857
$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,20.500,18.750,222.850,102.375,0.000,29.253,12.647,100.248,0.250,0.000,0.000,13.479,526.859,1546.821,375.155,616.618,297.015,33.328,692.986,0.000,631.818,0.000,2.524
$DEVICE_MAMPS,204.022,53.690,749.359,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.787,252.698,543.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15940,322
$CFSIZE,260165632,243539968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,032803,4805.512,-12221.439,11,1.1,11,18.3