version: 66.02
glider: 128
mission: 2
dive: 151
start: 9 11 107 9 40 38
data:
$ID,128
$MISSION,2
$DIVE,151
$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,75
$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,-62246.867
$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,44
$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
$GPS1,093450,4805.036,-12221.164,26,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.7
$GPS2,093937,4805.053,-12221.186,26,1.3,26,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,-0.049
$KALMAN_X,12407.8,11.8,-17.7,-9049.4,48.9
$KALMAN_Y,4542.8,-169.2,31.8,-10725.9,85.9
$MHEAD_RNG_PITCHd_Wd,117.6,250,-33.3,-5.026
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.54,-20.3,0.0,0.0,0,82,0.00,0.00,-55.72,0.000,6,0.000,0.000,4,2215,2884
$GC,85,-1.56,-39.9,2.3,-1.7,11,104,9.52,2.38,-2.15,0.000,4,0.219,0.061,2301,3624,2965
$GC,406,-1.56,-39.9,25.9,-6.3,60,413,0.00,2.30,0.00,0.000,6,0.000,0.029,2301,2192,2967
$GC,603,-1.56,-39.9,37.4,-5.8,79,607,0.00,2.35,0.00,0.000,4,0.000,0.048,2290,3617,2967
$GC,912,-1.56,-41.0,54.4,-4.8,106,918,0.00,2.20,0.00,0.000,6,0.000,0.028,2290,2201,2967
$GC,1237,-1.56,-41.0,69.9,-5.1,137,1244,0.00,2.33,0.00,0.000,4,0.000,0.047,2279,3619,2968
$GC,1401,-1.56,-41.0,78.6,-5.1,151,1409,0.10,2.22,0.00,0.000,6,0.171,0.028,2308,2203,2968
$GC,1727,-1.57,-46.6,93.4,-4.1,182,1731,0.00,2.20,-0.17,0.000,4,0.000,0.051,2308,814,2996
$STATE,1764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1764,begin apogee
$GC,1771,-0.23,0.0,95.3,4.9,185,1817,1.48,0.00,39.10,0.938,6,0.151,0.000,2736,2152,2799
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1820,1.57,46.6,95.9,0.0,190,1868,1.73,2.45,36.90,0.776,4,0.077,0.046,3318,3552,2608
$GC,1936,1.57,46.6,86.2,11.3,201,1940,0.00,2.28,0.00,0.000,6,0.000,0.030,3328,2162,2608
$GC,2261,1.57,46.6,52.5,10.5,231,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2161,2607
$GC,2579,1.57,46.6,22.3,8.4,261,2583,0.00,2.30,0.00,0.000,4,0.000,0.047,3328,3551,2607
$GC,2663,1.57,46.6,14.4,9.5,273,2669,0.00,2.25,0.00,0.000,6,0.000,0.031,3339,2137,2606
$GC,2737,1.57,46.6,8.3,8.1,286,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2137,2606
$GC,2810,1.57,46.6,3.3,6.2,299,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2137,2606
$GC,2884,1.63,93.1,4.0,-2.8,312,2924,0.00,2.40,34.90,0.859,4,0.000,0.046,3339,3558,2419
$GC,2965,1.64,105.9,3.0,2.9,326,2983,0.00,2.30,10.25,0.765,6,0.000,0.030,3349,2135,2367
$STATE,3026,end climb,SURFACE_DEPTH_REACHED
$STATE,3026,begin surface coast
$FINISH,0.6,1.024403
$STATE,3184,end surface coast,CONTROL_FINISHED_OK
$STATE,3184,begin surface
$SM_CCo,3202,85.45,0.670,0,0,1576,300.00
$SM_GC,1.11,0.00,0.00,85.45,0.000,0.000,0.670,11,2223,1576,-8.78,0.34,300.00
$IRIDIUM_FIX,4748.51,-12220.12,110907,121254
$TT8_MAMPS,0.026845
$HUMID,1893
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,43.9
$24V_AH,24.9,20.534
$10V_AH,10.8,8.718
$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,22.800,32.250,121.150,85.450,0.000,38.496,54.308,101.809,0.250,0.000,0.000,27.565,626.024,1602.497,279.024,798.494,292.924,33.338,653.076,0.000,800.196,0.000,2.523
$DEVICE_MAMPS,219.362,61.360,938.041,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.522,282.779,616.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19080,365
$CFSIZE,260165632,253493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,103634,4805.027,-12221.179,12,2.5,32,18.3