version: 66.02
glider: 128
mission: 2
dive: 143
start: 9 11 107 0 21 47
data:
$ID,128
$MISSION,2
$DIVE,143
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,70
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-62078.207
$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,46
$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
$GPS1,001637,4807.270,-12223.151,41,1.1,54,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.5
$GPS2,002045,4807.247,-12223.146,15,0.8,15,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.136
$KALMAN_X,11522.4,17.8,-53.4,-10562.1,81.0
$KALMAN_Y,4334.5,236.3,193.8,-7023.6,-77.7
$MHEAD_RNG_PITCHd_Wd,131.7,4936,-10.6,-5.026
$D_GRID,105
$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,-0.66,-146.6,0.0,0.0,0,94,0.00,0.00,-71.62,0.000,2,0.000,0.000,3,2212,3320
$GC,97,-0.66,-146.6,3.1,-2.8,13,116,10.68,2.33,-1.60,0.000,4,0.218,0.051,2600,804,3399
$GC,419,-0.66,-146.6,28.8,-6.2,58,426,0.00,2.28,0.00,0.000,6,0.000,0.034,2600,2215,3401
$GC,616,-0.66,-146.6,39.8,-5.6,77,620,0.00,2.33,0.00,0.000,4,0.000,0.049,2596,3625,3401
$GC,655,-0.66,-146.6,41.9,-5.5,80,659,0.00,2.25,0.00,0.000,6,0.000,0.028,2596,2197,3401
$GC,852,-0.66,-146.6,52.8,-5.5,98,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2195,3402
$GC,1170,-0.66,-146.6,69.0,-5.0,128,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2195,3402
$GC,1489,-0.66,-146.6,85.5,-5.5,158,1493,0.00,2.35,0.00,0.000,4,0.000,0.049,2593,3624,3402
$GC,1539,-0.66,-146.6,88.2,-5.3,162,1543,0.00,2.22,0.00,0.000,6,0.000,0.028,2593,2193,3402
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1663,-0.23,0.0,95.2,5.7,173,1783,0.47,0.00,112.07,0.773,6,0.108,0.000,2742,2189,2799
$STATE,1783,end apogee,CONTROL_FINISHED_OK
$STATE,1783,begin climb
$GC,1785,0.66,146.6,97.5,0.0,185,1903,0.88,0.00,112.00,0.703,6,0.082,0.000,3025,2189,2202
$GC,2220,0.66,146.6,72.5,6.4,227,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,2200
$GC,2539,0.66,146.6,53.5,5.9,257,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,2199
$GC,2858,0.66,146.6,35.1,6.0,287,2862,0.00,2.30,0.00,0.000,4,0.000,0.041,3028,763,2199
$GC,2886,0.66,146.6,33.5,6.3,289,2892,0.00,2.22,0.00,0.000,6,0.000,0.032,3028,2162,2199
$GC,3082,0.66,146.6,22.8,5.8,308,3086,0.00,2.28,0.00,0.000,4,0.000,0.046,3028,3558,2199
$GC,3110,0.66,146.6,21.1,6.6,310,3114,0.00,2.20,0.00,0.000,6,0.000,0.030,3036,2166,2198
$GC,3317,0.68,162.5,9.9,4.5,344,3334,0.00,0.00,13.18,0.849,6,0.000,0.000,3036,2164,2136
$GC,3402,0.68,162.5,5.3,6.0,359,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2164,2135
$GC,3476,0.77,235.4,2.8,2.8,372,3511,0.00,0.00,32.53,0.819,2,0.000,0.000,3035,2164,1959
$STATE,3511,end climb,SURFACE_DEPTH_REACHED
$STATE,3512,begin surface coast
$FINISH,0.4,1.012703
$STATE,3612,end surface coast,CONTROL_FINISHED_OK
$STATE,3612,begin surface
$SM_CCo,3629,42.12,0.697,0,0,1577,300.00
$SM_GC,1.13,0.00,0.00,42.12,0.000,0.000,0.697,6,2214,1577,-8.80,0.14,300.00
$IRIDIUM_FIX,4751.72,-12216.40,110907,030335
$TT8_MAMPS,0.026845
$HUMID,1856
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,41.9
$24V_AH,24.4,19.936
$10V_AH,10.8,8.330
$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,20.700,22.825,269.775,42.125,0.000,37.710,42.861,89.409,0.750,0.000,0.000,16.494,643.801,1904.525,348.201,779.052,268.964,33.342,733.054,0.000,795.692,0.000,2.511
$DEVICE_MAMPS,217.828,79.768,849.069,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.452,314.136,668.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19107,396
$CFSIZE,260165632,253722624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,012402,4806.947,-12222.725,12,2.0,30,18.3