version: 66.03
glider: 128
mission: 2
dive: 504
start: 9 26 107 4 28 57
data:
$ID,128
$MISSION,2
$DIVE,504
$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,-70992.312
$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,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
$GPS1,042326,4805.173,-12221.124,17,2.0,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.8
$GPS2,042758,4805.186,-12221.128,13,2.8,32,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,-0.035
$KALMAN_X,-19298.0,-163.6,103.9,22354.2,-79.4
$KALMAN_Y,-13736.0,211.3,-159.9,9105.1,-218.6
$MHEAD_RNG_PITCHd_Wd,99.6,379,-31.9,-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,-1.80,-23.9,0.0,0.0,0,95,0.00,0.00,-63.72,0.000,6,0.000,0.000,19,2269,2898
$GC,99,-1.83,-51.9,1.8,-1.1,12,119,8.98,2.30,-3.58,0.000,4,0.209,0.057,2215,3642,3012
$GC,210,-1.83,-51.9,11.2,-7.9,31,216,0.00,2.22,0.00,0.000,6,0.000,0.027,2215,2232,3014
$GC,286,-1.83,-51.9,16.9,-7.4,44,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2231,3014
$GC,364,-1.83,-51.9,22.7,-7.2,55,368,0.00,2.35,0.00,0.000,4,0.000,0.044,2205,3643,3015
$GC,394,-1.83,-51.9,24.8,-7.6,57,398,0.00,2.20,0.00,0.000,6,0.000,0.026,2205,2241,3015
$GC,592,-1.83,-51.9,38.8,-6.6,75,596,0.00,2.30,0.00,0.000,4,0.000,0.044,2194,3639,3015
$GC,678,-1.83,-51.9,45.1,-7.2,82,684,0.15,2.17,0.00,0.000,6,0.174,0.028,2228,2243,3015
$GC,876,-1.83,-51.9,58.6,-6.3,101,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2242,3015
$GC,1195,-1.83,-51.9,78.9,-6.6,131,1198,0.00,2.20,0.00,0.000,4,0.000,0.039,2229,866,3015
$GC,1418,-1.83,-51.9,94.3,-6.5,150,1425,0.00,2.20,0.00,0.000,6,0.000,0.033,2220,2251,3015
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1441,-0.28,0.0,95.3,6.3,152,1488,1.75,0.00,41.55,0.805,6,0.153,0.000,2724,2147,2799
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1492,1.83,51.9,96.6,0.0,157,1539,2.00,0.00,40.28,0.706,6,0.074,0.000,3401,2147,2588
$GC,1857,1.83,51.9,55.3,12.0,192,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2147,2587
$GC,2176,1.83,51.9,18.9,10.9,222,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2147,2586
$GC,2252,1.83,51.9,11.3,10.2,235,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2147,2586
$GC,2328,1.83,51.9,4.1,9.0,248,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2147,2586
$STATE,2360,end climb,SURFACE_DEPTH_REACHED
$STATE,2360,begin surface coast
$FINISH,1.0,1.024335
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2412,135.75,0.669,0,0,1372,350.04
$SM_GC,1.12,0.00,0.00,135.75,0.000,0.000,0.669,18,2267,1372,-8.76,0.48,350.04
$IRIDIUM_FIX,4748.51,-12224.57,260907,070749
$TT8_MAMPS,0.026078
$HUMID,1862
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,46.7
$24V_AH,24.8,46.190
$10V_AH,10.7,23.932
$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,22.950,18.250,81.825,135.750,0.000,28.684,18.850,97.030,0.250,0.000,0.000,34.824,465.016,1226.690,297.588,557.801,292.787,33.329,567.968,0.000,549.688,0.000,2.517
$DEVICE_MAMPS,209.391,56.758,804.583,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.891,205.008,437.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12788,259
$CFSIZE,260165632,243494912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,051237,4805.046,-12220.911,33,1.0,33,18.3