version: 66.02
glider: 128
mission: 2
dive: 146
start: 9 11 107 3 45 18
data:
$ID,128
$MISSION,2
$DIVE,146
$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,70
$T_MISSION,80
$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,-62138.953
$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,45
$R_STBD_OVSHOOT,54
$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
$GPS1,033835,4806.170,-12222.157,10,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.8
$GPS2,034357,4806.171,-12222.162,12,1.9,12,18.3
$SPEED_LIMITS,0.045,0.055
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.024,-0.050
$KALMAN_X,11953.0,25.8,45.0,-9878.6,153.7
$KALMAN_Y,4332.1,129.2,-49.0,-8660.7,-176.4
$MHEAD_RNG_PITCHd_Wd,135.9,2603,-36.2,-4.524
$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,18,begin dive
$GC,20,-1.66,-14.7,0.0,0.0,0,81,0.00,0.00,-55.05,0.000,6,0.000,0.000,4,2240,2862
$GC,84,-1.68,-29.1,2.2,-1.5,11,103,9.23,2.40,-1.58,0.000,4,0.212,0.053,2276,814,2921
$GC,227,-1.68,-29.1,14.7,-6.2,36,233,0.00,2.25,0.00,0.000,6,0.000,0.033,2268,2207,2923
$GC,301,-1.68,-29.1,18.3,-4.8,49,307,0.00,2.28,0.00,0.000,4,0.000,0.038,2268,810,2923
$GC,609,-1.69,-32.9,32.3,-3.7,79,617,0.00,2.28,-0.12,0.000,6,0.000,0.034,2259,2209,2936
$GC,807,-1.69,-32.9,41.6,-4.8,98,811,0.00,2.25,0.00,0.000,4,0.000,0.038,2258,809,2936
$GC,1115,-1.69,-32.9,55.8,-4.6,125,1119,0.00,2.25,0.00,0.000,6,0.000,0.034,2249,2222,2937
$GC,1443,-1.69,-35.0,70.2,-4.1,155,1447,0.00,2.28,0.00,0.000,4,0.000,0.038,2249,800,2936
$GC,1752,-1.69,-36.3,83.6,-4.3,182,1757,0.15,2.25,-0.15,0.000,6,0.182,0.033,2273,2220,2955
$STATE,2021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2021,begin apogee
$GC,2026,-0.23,0.0,95.4,4.5,207,2064,1.58,0.00,31.33,0.918,6,0.152,0.000,2738,2138,2799
$STATE,2065,end apogee,CONTROL_FINISHED_OK
$STATE,2065,begin climb
$GC,2066,1.69,36.3,95.9,0.0,211,2102,1.83,2.40,28.73,0.709,4,0.078,0.044,3355,3546,2651
$GC,2225,1.69,36.3,81.1,11.2,225,2232,0.00,2.28,0.00,0.000,6,0.000,0.029,3366,2157,2650
$GC,2552,1.69,36.3,50.6,8.8,256,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2156,2649
$GC,2869,1.69,36.3,24.0,7.6,286,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2155,2649
$GC,3068,1.69,36.3,9.1,7.2,317,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2155,2649
$GC,3141,1.69,36.3,4.5,6.2,330,3148,0.00,2.30,0.00,0.000,4,0.000,0.045,3366,3558,2649
$GC,3199,1.69,37.8,2.3,4.2,340,3205,0.00,2.22,0.00,0.000,6,0.000,0.030,3376,2139,2649
$GC,3273,1.73,69.4,3.8,-2.1,353,3303,0.00,2.33,24.85,0.861,4,0.000,0.040,3386,754,2517
$STATE,3375,end climb,SURFACE_DEPTH_REACHED
$STATE,3375,begin surface coast
$FINISH,2.3,1.024889
$STATE,3455,end surface coast,CONTROL_FINISHED_OK
$STATE,3455,begin surface
$SM_CCo,3457,260.35,0.644,0,0,204,636.80
$SM_GC,1.02,9.90,0.00,0.00,0.044,0.000,0.000,14,2209,195,-8.70,-0.06,639.01
$IRIDIUM_FIX,4748.51,-12221.84,110907,060652
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,45.8
$24V_AH,25.1,20.160
$10V_AH,10.8,8.475
$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,22.675,32.325,84.900,260.350,0.000,40.677,50.786,116.640,0.500,0.000,0.000,14.133,701.069,1854.497,421.153,870.427,346.807,33.369,815.266,0.000,891.233,0.000,3.394
$DEVICE_MAMPS,212.459,60.593,918.099,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,273.472,298.761,649.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19133,385
$CFSIZE,260165632,253636608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,045007,4806.068,-12221.966,26,1.4,27,18.3