version: 66.02
glider: 128
mission: 2
dive: 72
start: 9 8 107 5 8 10
data:
$ID,128
$MISSION,2
$DIVE,72
$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,-60595.309
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,050307,4805.549,-12221.314,34,1.3,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.7
$GPS2,050709,4805.541,-12221.295,9,1.6,9,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,-0.169
$KALMAN_X,6158.1,23.3,71.2,-3039.2,152.0
$KALMAN_Y,1655.2,83.4,-35.7,-7118.8,17.8
$MHEAD_RNG_PITCHd_Wd,158.6,1066,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,88,0.00,0.00,-66.45,0.000,2,0.000,0.000,5,2157,3049
$GC,90,-0.78,-146.6,3.1,-2.9,12,115,10.50,2.38,-8.10,0.000,4,0.216,0.066,2564,3550,3398
$GC,418,-0.78,-146.6,28.3,-7.2,60,422,0.00,2.28,0.00,0.000,6,0.000,0.029,2564,2130,3401
$GC,614,-0.78,-146.6,41.1,-6.4,78,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2129,3401
$GC,806,-0.78,-146.6,52.7,-5.9,96,810,0.00,2.38,0.00,0.000,4,0.000,0.052,2564,3553,3401
$GC,848,-0.78,-146.6,55.5,-6.1,99,856,0.00,2.25,0.00,0.000,6,0.000,0.029,2564,2148,3401
$GC,1174,-0.78,-146.6,75.5,-6.5,130,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2148,3401
$STATE,1410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1410,begin apogee
$GC,1414,-0.23,0.0,90.2,6.4,152,1532,0.55,0.00,112.38,0.811,6,0.112,0.000,2740,2067,2799
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1534,0.78,146.6,92.8,0.0,164,1653,1.00,2.40,111.55,0.701,4,0.084,0.045,3069,693,2202
$GC,1710,0.78,146.6,83.5,7.5,180,1716,0.00,2.33,0.00,0.000,6,0.000,0.036,3069,2076,2201
$GC,2034,0.78,146.6,59.6,7.5,211,2038,0.00,2.38,0.00,0.000,4,0.000,0.051,3069,3494,2200
$GC,2106,0.78,146.6,53.7,8.2,217,2110,0.00,2.28,0.00,0.000,6,0.000,0.033,3077,2096,2199
$GC,2431,0.78,146.6,30.5,7.7,247,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2096,2199
$GC,2624,0.78,146.6,16.7,7.0,269,2630,0.00,2.35,0.00,0.000,4,0.000,0.051,3077,3485,2199
$GC,2670,0.78,146.6,13.2,7.6,277,2676,0.00,2.28,0.00,0.000,6,0.000,0.034,3079,2071,2199
$GC,2743,0.78,146.6,8.1,6.9,290,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2071,2199
$GC,2816,0.78,146.6,3.5,6.1,303,2823,0.00,2.28,0.00,0.000,4,0.000,0.047,3080,671,2199
$GC,2868,0.93,267.3,2.4,2.1,312,2909,0.12,2.28,35.97,0.849,2,0.064,0.036,3142,2086,1951
$STATE,2910,end climb,SURFACE_DEPTH_REACHED
$STATE,2910,begin surface coast
$FINISH,0.4,1.011028
$STATE,3096,end surface coast,CONTROL_FINISHED_OK
$STATE,3096,begin surface
$SM_CCo,3112,68.15,0.722,0,0,1372,350.04
$SM_GC,1.53,0.00,0.00,68.15,0.000,0.000,0.722,7,2160,1372,-8.79,0.28,350.04
$IRIDIUM_FIX,4748.51,-12219.12,080907,080850
$TT8_MAMPS,0.026078
$HUMID,1877
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,19.8
$24V_AH,24.4,14.286
$10V_AH,10.8,5.417
$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,21.150,28.000,259.900,68.150,0.000,39.385,46.851,88.369,1.250,0.000,0.000,10.780,579.935,1533.567,354.117,724.467,256.686,33.353,729.738,0.000,737.106,0.000,11.414
$DEVICE_MAMPS,215.527,77.467,849.069,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.655,270.126,593.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16035,352
$CFSIZE,260165632,255672320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,060216,4805.220,-12221.289,11,2.3,31,18.3