version: 66.02
glider: 128
mission: 2
dive: 99
start: 9 9 107 6 31 47
data:
$ID,128
$MISSION,2
$DIVE,99
$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,-61167.082
$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,36
$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,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
$GPS1,062547,4805.460,-12221.427,11,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.7
$GPS2,063047,4805.437,-12221.396,14,2.1,33,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.060,-0.159
$KALMAN_X,8066.8,10.3,73.0,-5058.7,107.3
$KALMAN_Y,2819.0,-55.0,-88.3,-8284.6,-0.5
$MHEAD_RNG_PITCHd_Wd,141.0,946,-13.2,-6.000
$D_GRID,110
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-77.53,0.000,2,0.000,0.000,14,2138,3341
$GC,101,-0.78,-146.6,3.9,-4.4,14,120,10.40,2.40,-1.15,0.000,4,0.216,0.063,2550,3550,3400
$GC,423,-0.78,-146.6,32.4,-7.2,55,430,0.00,2.25,0.00,0.000,6,0.000,0.029,2550,2139,3401
$GC,620,-0.78,-146.6,45.1,-6.3,74,624,0.00,2.38,0.00,0.000,4,0.000,0.052,2544,3554,3402
$GC,659,-0.78,-146.6,47.7,-6.5,77,663,0.00,2.25,0.00,0.000,6,0.000,0.029,2544,2138,3402
$GC,855,-0.78,-146.6,60.9,-6.5,95,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2138,3402
$GC,1174,-0.78,-146.6,83.0,-6.9,125,1178,0.00,2.38,0.00,0.000,4,0.000,0.052,2540,3561,3401
$GC,1218,-0.78,-146.6,86.1,-6.6,128,1225,0.00,2.28,0.00,0.000,6,0.000,0.028,2539,2140,3402
$STATE,1276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1280,-0.23,0.0,90.2,7.0,134,1399,0.65,0.00,113.03,0.812,6,0.114,0.000,2741,2080,2799
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1402,0.78,146.6,92.6,0.0,146,1519,1.00,0.00,112.05,0.696,6,0.081,0.000,3066,2080,2202
$GC,1837,0.78,146.6,64.5,7.0,188,1841,0.00,2.35,0.00,0.000,4,0.000,0.049,3066,3481,2199
$GC,1870,0.78,146.6,62.0,8.1,191,1874,0.00,2.28,0.00,0.000,6,0.000,0.032,3068,2088,2199
$GC,2195,0.78,146.6,39.3,6.9,221,2199,0.00,2.33,0.00,0.000,4,0.000,0.050,3068,3479,2199
$GC,2222,0.78,146.6,37.1,7.7,223,2226,0.00,2.28,0.00,0.000,6,0.000,0.033,3076,2074,2199
$GC,2419,0.78,146.6,23.1,6.8,241,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2074,2199
$GC,2618,0.78,146.6,9.3,6.6,272,2624,0.00,2.35,0.00,0.000,4,0.000,0.050,3076,3484,2199
$GC,2669,0.78,146.6,5.8,7.0,281,2675,0.00,2.28,0.00,0.000,6,0.000,0.034,3080,2072,2199
$STATE,2742,end climb,SURFACE_DEPTH_REACHED
$STATE,2742,begin surface coast
$FINISH,1.1,1.024403
$STATE,2788,end surface coast,CONTROL_FINISHED_OK
$STATE,2788,begin surface
$SM_CCo,2804,91.22,0.737,0,0,1372,350.04
$SM_GC,1.12,0.00,0.00,91.22,0.000,0.000,0.737,16,2165,1372,-8.76,0.42,350.04
$IRIDIUM_FIX,4748.51,-12229.01,090907,090958
$TT8_MAMPS,0.026078
$HUMID,1860
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,33.4
$24V_AH,24.4,16.479
$10V_AH,10.8,6.522
$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,20.875,27.950,225.075,91.225,0.000,37.447,46.017,115.107,0.750,0.000,0.000,35.723,509.900,1413.885,371.120,640.621,285.295,33.340,690.575,0.000,632.843,0.000,7.785
$DEVICE_MAMPS,215.527,138.827,812.253,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.987,235.986,509.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,302
$CFSIZE,260165632,254914560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,072045,4805.178,-12221.178,8,1.7,8,18.3