version: 66.02
glider: 128
mission: 2
dive: 73
start: 9 8 107 6 7 41
data:
$ID,128
$MISSION,2
$DIVE,73
$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,-60628.184
$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,32
$R_STBD_OVSHOOT,36
$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
$GPS1,060216,4805.220,-12221.289,11,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.9
$GPS2,060641,4805.203,-12221.282,10,4.4,29,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,-0.108
$KALMAN_X,6110.3,29.9,114.9,-3021.5,55.2
$KALMAN_Y,1522.7,84.8,-13.5,-7635.0,-54.2
$MHEAD_RNG_PITCHd_Wd,119.7,513,-17.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.90,-95.8,0.0,0.0,0,87,0.00,0.00,-65.90,0.000,2,0.000,0.000,7,2161,3053
$GC,89,-0.96,-146.6,3.2,-3.2,12,114,10.32,2.38,-7.75,0.000,4,0.219,0.056,2505,739,3399
$GC,417,-0.96,-146.6,34.0,-8.1,56,421,0.00,2.30,0.00,0.000,6,0.000,0.036,2500,2149,3402
$GC,613,-0.96,-146.6,49.5,-7.9,74,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2150,3402
$GC,805,-0.96,-146.6,65.0,-8.1,92,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2150,3403
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1105,-0.23,0.0,90.2,8.3,120,1224,0.80,0.00,112.90,0.801,6,0.119,0.000,2747,2051,2799
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1226,0.96,146.6,93.0,0.0,132,1345,1.15,2.38,111.53,0.697,4,0.078,0.047,3130,696,2202
$GC,1363,0.96,146.6,85.9,8.3,145,1367,0.00,2.38,0.00,0.000,6,0.000,0.035,3130,2089,2201
$GC,1689,0.96,146.6,55.6,9.6,175,1693,0.00,2.35,0.00,0.000,4,0.000,0.050,3130,3494,2200
$GC,1717,0.96,146.6,52.7,10.2,177,1721,0.00,2.28,0.00,0.000,6,0.000,0.033,3140,2099,2199
$GC,2041,0.96,146.6,22.2,8.8,207,2045,0.00,2.33,0.00,0.000,4,0.000,0.051,3140,3486,2199
$GC,2074,0.96,146.6,19.1,9.5,210,2080,0.00,2.28,0.00,0.000,6,0.000,0.034,3149,2079,2199
$GC,2148,0.96,146.6,12.3,9.2,223,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2079,2200
$GC,2220,0.96,146.6,5.7,9.1,236,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2080,2199
$STATE,2282,end climb,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,1.5,1.023918
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2338,103.25,0.730,0,0,1372,350.04
$SM_GC,1.35,0.00,0.00,103.25,0.000,0.000,0.730,3,2159,1372,-8.81,0.25,350.04
$IRIDIUM_FIX,4745.30,-12220.12,080907,090930
$TT8_MAMPS,0.026845
$HUMID,1830
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,52.0
$24V_AH,24.4,14.364
$10V_AH,10.8,5.452
$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,21.350,18.900,224.425,103.250,0.000,38.725,44.034,91.989,0.250,0.000,0.000,32.242,433.151,1145.360,358.026,551.239,243.005,33.353,650.212,0.000,544.457,0.000,2.524
$DEVICE_MAMPS,219.362,55.991,800.748,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,181.002,197.429,428.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12756,254
$CFSIZE,260165632,255651840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,064908,4805.098,-12220.960,6,1.8,12,18.3