version: 66.02
glider: 128
mission: 2
dive: 97
start: 9 9 107 4 33 44
data:
$ID,128
$MISSION,2
$DIVE,97
$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,-61114.918
$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,40
$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
$GPS1,042815,4805.961,-12222.075,10,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.9
$GPS2,043244,4805.943,-12222.061,30,2.0,30,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,-0.139
$KALMAN_X,7804.8,-12.3,-26.0,-5496.7,106.6
$KALMAN_Y,2732.4,45.2,-65.5,-7383.5,-110.0
$MHEAD_RNG_PITCHd_Wd,127.0,2184,-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,-146.6,0.0,0.0,0,143,0.00,0.00,-120.15,0.000,2,0.000,0.000,13,2135,3279
$GC,145,-0.78,-146.6,3.1,-3.0,22,164,10.38,2.30,-2.50,0.000,4,0.215,0.055,2562,742,3399
$GC,175,-0.78,-146.6,9.5,-15.9,27,182,0.00,2.33,0.00,0.000,6,0.000,0.038,2562,2148,3400
$GC,249,-0.78,-146.6,14.5,-6.5,40,256,0.00,2.33,0.00,0.000,4,0.000,0.042,2561,743,3401
$GC,557,-0.78,-146.6,34.6,-6.0,75,565,0.00,2.33,0.00,0.000,6,0.000,0.038,2562,2152,3402
$GC,755,-0.78,-146.6,46.1,-6.1,94,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2152,3403
$GC,946,-0.78,-146.6,57.5,-6.1,112,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2152,3403
$GC,1265,-0.78,-146.6,77.3,-6.0,142,1269,0.00,2.33,0.00,0.000,4,0.000,0.053,2562,3559,3403
$GC,1304,-0.78,-146.6,79.8,-5.9,145,1308,0.00,2.25,0.00,0.000,6,0.000,0.030,2562,2137,3403
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1483,-0.23,0.0,90.4,5.9,161,1601,0.57,0.00,112.88,0.814,6,0.110,0.000,2743,2085,2799
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1604,0.78,146.6,92.7,0.0,173,1720,1.00,0.00,111.43,0.690,6,0.081,0.000,3068,2085,2202
$GC,2035,0.78,146.6,65.0,7.5,214,2038,0.00,2.38,0.00,0.000,4,0.000,0.049,3069,3488,2199
$GC,2072,0.78,146.6,61.8,8.3,217,2079,0.00,2.33,0.00,0.000,6,0.000,0.032,3075,2081,2199
$GC,2398,0.78,146.6,37.8,6.9,248,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2081,2199
$GC,2588,0.78,146.6,24.3,6.7,266,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2081,2199
$GC,2787,0.78,146.6,10.8,6.6,296,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2081,2198
$GC,2860,0.78,146.6,6.2,6.4,309,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2081,2198
$GC,2933,0.83,189.3,2.5,4.6,322,2957,0.00,0.00,21.92,0.854,2,0.000,0.000,3075,2081,2063
$STATE,2958,end climb,SURFACE_DEPTH_REACHED
$STATE,2958,begin surface coast
$FINISH,0.4,1.024788
$STATE,3025,end surface coast,CONTROL_FINISHED_OK
$STATE,3025,begin surface
$SM_CCo,3041,77.50,0.709,0,0,1372,350.04
$SM_GC,1.14,0.00,0.00,77.50,0.000,0.000,0.709,5,2161,1372,-8.80,0.31,350.04
$IRIDIUM_FIX,4745.30,-12140.88,090907,070709
$TT8_MAMPS,0.026845
$HUMID,1852
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,48.3
$24V_AH,24.4,16.315
$10V_AH,10.8,6.440
$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,20.700,18.700,246.225,77.500,0.000,37.742,38.723,103.657,0.250,0.000,0.000,31.728,540.891,1514.579,391.810,704.754,261.154,33.341,755.511,0.000,701.649,0.000,2.523
$DEVICE_MAMPS,214.760,142.662,854.438,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.121,263.595,570.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15933,338
$CFSIZE,260165632,254967808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,052655,4805.759,-12221.664,38,1.3,39,18.3