version: 66.03
glider: 128
mission: 2
dive: 517
start: 9 26 107 16 34 34
data:
$ID,128
$MISSION,2
$DIVE,517
$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,-71220.859
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,162925,4807.353,-12223.298,36,1.5,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.8
$GPS2,163333,4807.363,-12223.339,13,1.5,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.084
$KALMAN_X,-21439.9,46.1,83.8,21573.2,-174.8
$KALMAN_Y,-14070.9,163.2,-208.4,13568.6,-187.3
$MHEAD_RNG_PITCHd_Wd,103.0,5247,-11.3,-5.278
$D_GRID,105
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-75.45,0.000,2,0.000,0.000,15,2258,3254
$GC,111,-0.81,-146.6,3.3,-2.9,14,131,10.32,2.33,-2.85,0.000,4,0.209,0.054,2546,3662,3400
$GC,160,-0.81,-146.6,12.7,-18.3,22,167,0.00,2.25,0.00,0.000,6,0.000,0.027,2546,2234,3401
$GC,236,-0.81,-146.6,17.8,-6.7,35,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2232,3402
$GC,309,-0.81,-146.6,22.1,-6.0,45,313,0.00,2.35,0.00,0.000,4,0.000,0.044,2536,3653,3402
$GC,349,-0.81,-146.6,24.9,-7.3,48,355,0.00,2.20,0.00,0.000,6,0.000,0.026,2536,2245,3402
$GC,547,-0.81,-146.6,38.3,-6.7,67,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2244,3403
$GC,738,-0.81,-146.6,50.4,-6.2,85,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2244,3403
$GC,1057,-0.81,-146.6,71.2,-6.5,115,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2244,3403
$GC,1375,-0.81,-146.6,92.0,-6.3,145,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2244,3403
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1433,-0.28,0.0,95.4,6.6,150,1550,0.60,0.00,111.75,0.750,6,0.111,0.000,2726,2149,2799
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1551,begin climb
$GC,1554,0.81,146.6,98.0,0.0,162,1671,1.08,0.00,111.20,0.690,6,0.077,0.000,3079,2148,2201
$GC,1990,0.81,146.6,66.9,8.3,204,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2149,2199
$GC,2308,0.81,146.6,42.2,7.2,234,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2149,2199
$GC,2500,0.81,146.6,28.5,7.1,252,2504,0.00,2.33,0.00,0.000,4,0.000,0.042,3079,3566,2199
$GC,2558,0.81,146.6,24.0,8.0,257,2562,0.00,2.25,0.00,0.000,6,0.000,0.028,3087,2149,2198
$GC,2768,0.81,146.6,9.4,6.6,288,2775,0.00,2.33,0.00,0.000,4,0.000,0.043,3087,3560,2199
$GC,2793,0.81,146.6,7.2,7.1,292,2799,0.00,2.22,0.00,0.000,6,0.000,0.028,3093,2151,2199
$GC,2869,0.84,174.9,3.5,4.4,305,2898,0.00,2.38,21.30,0.809,4,0.000,0.042,3093,3558,2085
$STATE,2908,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$FINISH,0.3,1.010457
$STATE,2972,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,2996,82.10,0.655,0,0,1372,350.04
$SM_GC,1.31,0.00,0.00,82.10,0.000,0.000,0.655,9,2240,1372,-8.79,-0.31,350.04
$IRIDIUM_FIX,4748.51,-12306.56,260907,191909
$TT8_MAMPS,0.026845
$HUMID,1900
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,47.9
$24V_AH,24.5,47.128
$10V_AH,10.7,24.460
$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,20.775,22.850,244.250,82.100,0.000,22.357,18.924,97.144,0.500,0.000,0.000,15.247,529.854,1519.939,374.990,620.164,302.595,33.332,700.579,0.000,635.345,0.000,2.519
$DEVICE_MAMPS,208.624,60.593,809.185,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.120,257.788,544.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15984,323
$CFSIZE,260165632,243154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,172704,4807.116,-12222.973,12,2.6,31,18.3