version: 66.02
glider: 128
mission: 2
dive: 71
start: 9 8 107 4 10 45
data:
$ID,128
$MISSION,2
$DIVE,71
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,-60583.898
$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,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$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,91.800003
$AH0_10V,61.200001
$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,48
$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
$GPS1,040527,4805.831,-12221.576,10,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.4
$GPS2,040945,4805.833,-12221.561,12,1.5,12,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,-0.164
$KALMAN_X,5934.8,57.7,70.7,-3180.2,63.4
$KALMAN_Y,1725.0,74.4,-55.1,-6621.2,57.2
$MHEAD_RNG_PITCHd_Wd,146.6,1691,-13.2,-6.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,94,0.00,0.00,-72.12,0.000,2,0.000,0.000,15,2168,3213
$GC,97,-0.78,-146.6,3.7,-4.0,13,116,10.52,2.45,-3.72,0.000,4,0.219,0.056,2565,736,3401
$GC,414,-0.78,-146.6,31.0,-6.7,55,418,0.00,2.30,0.00,0.000,6,0.000,0.038,2565,2141,3404
$GC,610,-0.78,-146.6,43.4,-6.3,73,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2141,3404
$GC,802,-0.78,-146.6,55.6,-6.5,91,806,0.00,2.35,0.00,0.000,4,0.000,0.054,2563,3559,3404
$GC,856,-0.78,-146.6,59.5,-6.9,95,863,0.00,2.28,0.00,0.000,6,0.000,0.029,2563,2143,3404
$GC,1181,-0.78,-146.6,81.0,-6.8,126,1186,0.00,2.35,0.00,0.000,4,0.000,0.053,2563,3555,3404
$GC,1254,-0.78,-146.6,85.9,-6.8,132,1258,0.00,2.22,0.00,0.000,6,0.000,0.029,2563,2143,3404
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1326,-0.23,0.0,90.4,6.5,138,1445,0.57,0.00,113.03,0.810,6,0.112,0.000,2743,2079,2800
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1447,0.78,146.6,93.0,0.0,150,1564,1.00,0.00,111.78,0.706,6,0.082,0.000,3064,2079,2202
$GC,1878,0.78,146.6,66.8,6.8,191,1882,0.00,2.38,0.00,0.000,4,0.000,0.049,3064,3490,2200
$GC,1923,0.78,146.6,63.5,7.7,195,1927,0.00,2.30,0.00,0.000,6,0.000,0.033,3065,2081,2199
$GC,2249,0.78,146.6,41.0,6.9,225,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2081,2199
$GC,2438,0.78,146.6,27.6,7.1,243,2442,0.00,2.33,0.00,0.000,4,0.000,0.051,3065,3484,2199
$GC,2465,0.78,146.6,25.6,7.8,245,2472,0.00,2.28,0.00,0.000,6,0.000,0.033,3069,2069,2199
$GC,2668,0.78,146.6,12.0,6.2,274,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2069,2199
$GC,2741,0.78,146.6,7.4,6.4,287,2747,0.00,2.35,0.00,0.000,4,0.000,0.051,3069,3484,2199
$GC,2764,0.78,146.6,5.8,6.6,291,2770,0.00,2.25,0.00,0.000,6,0.000,0.034,3069,2079,2199
$GC,2838,0.85,206.9,2.3,4.1,304,2862,0.00,0.00,21.35,0.846,2,0.000,0.000,3069,2078,2068
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,0.4,1.011855
$STATE,2976,end surface coast,CONTROL_FINISHED_OK
$STATE,2976,begin surface
$SM_CCo,2992,81.47,0.713,0,0,1373,350.04
$SM_GC,1.05,0.00,0.00,81.47,0.000,0.000,0.713,5,2156,1373,-8.80,0.17,350.04
$IRIDIUM_FIX,4748.51,-12219.12,080907,070702
$TT8_MAMPS,0.026845
$HUMID,1864
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.5,49.6
$24V_AH,24.4,14.207
$10V_AH,10.8,5.373
$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,20.825,28.000,246.150,81.475,0.000,39.886,46.306,101.231,0.750,0.000,0.000,13.536,551.582,1491.511,363.998,683.659,266.113,33.351,719.859,0.000,697.431,0.000,2.519
$DEVICE_MAMPS,218.595,93.574,846.001,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.035,252.417,553.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15983,328
$CFSIZE,260165632,255705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,050307,4805.549,-12221.314,34,1.3,35,18.3