version: 66.02
glider: 128
mission: 2
dive: 125
start: 9 10 107 6 39 9
data:
$ID,128
$MISSION,2
$DIVE,125
$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,-61670.859
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,063357,4805.497,-12221.539,10,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.7
$GPS2,063808,4805.488,-12221.534,10,1.2,10,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,-0.137
$KALMAN_X,10000.5,-19.9,96.1,-7157.4,32.5
$KALMAN_Y,3088.7,-10.4,-116.0,-8477.2,-47.2
$MHEAD_RNG_PITCHd_Wd,125.4,1120,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-81.97,0.000,2,0.000,0.000,15,2215,3393
$GC,107,-0.78,-146.6,3.6,-3.9,15,125,10.50,2.38,0.00,0.000,4,0.218,0.045,2555,3616,3397
$GC,429,-0.78,-146.6,32.4,-6.7,56,435,0.00,2.28,0.00,0.000,6,0.000,0.029,2556,2189,3398
$GC,625,-0.78,-146.6,45.0,-6.2,75,630,0.00,2.38,0.00,0.000,4,0.000,0.050,2552,3609,3398
$GC,766,-0.78,-146.6,54.5,-6.8,87,770,0.00,2.22,0.00,0.000,6,0.000,0.030,2552,2208,3398
$GC,1092,-0.78,-146.6,75.5,-6.4,117,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2207,3399
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1326,-0.23,0.0,90.5,6.7,139,1445,0.62,0.00,112.32,0.798,6,0.114,0.000,2746,2148,2799
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1448,0.78,146.6,92.9,0.0,151,1566,1.00,0.00,111.97,0.692,6,0.081,0.000,3066,2146,2201
$GC,1883,0.78,146.6,65.2,7.1,193,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2147,2200
$GC,2201,0.78,146.6,42.0,7.4,223,2205,0.00,2.28,0.00,0.000,4,0.000,0.044,3068,753,2200
$GC,2239,0.78,146.6,39.1,7.4,226,2246,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,2143,2200
$GC,2437,0.78,146.6,25.1,7.1,245,2441,0.00,2.33,0.00,0.000,4,0.000,0.049,3067,3556,2199
$GC,2486,0.78,146.6,21.2,8.0,249,2493,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,2165,2199
$GC,2693,0.78,146.6,7.7,6.1,285,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2165,2199
$GC,2767,0.79,151.4,3.3,5.8,298,2779,0.00,2.35,4.03,0.576,4,0.000,0.049,3068,3554,2182
$STATE,2795,end climb,SURFACE_DEPTH_REACHED
$STATE,2795,begin surface coast
$FINISH,1.6,1.024927
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2820,89.38,0.727,0,0,1373,350.04
$SM_GC,1.20,0.00,0.00,89.38,0.000,0.000,0.727,7,2196,1373,-8.79,-0.40,350.04
$IRIDIUM_FIX,4751.72,-12417.21,100907,090921
$TT8_MAMPS,0.026845
$HUMID,1851
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,49.7
$24V_AH,24.4,18.547
$10V_AH,10.8,7.563
$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,20.925,22.950,228.325,89.375,0.000,40.331,35.756,101.731,0.250,0.000,0.000,11.916,508.679,1415.067,379.232,623.501,259.884,33.342,700.843,0.000,642.466,0.000,3.436
$DEVICE_MAMPS,217.828,138.827,797.680,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.317,238.839,512.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15914,304
$CFSIZE,260165632,254218240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,072821,4805.327,-12221.285,9,1.4,9,18.3