version: 66.02
glider: 128
mission: 2
dive: 152
start: 9 11 107 10 41 45
data:
$ID,128
$MISSION,2
$DIVE,152
$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,-62263
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,103634,4805.027,-12221.179,12,2.5,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.7
$GPS2,104044,4805.053,-12221.205,14,1.0,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.041
$KALMAN_X,12156.8,67.2,-16.3,-8877.8,-105.7
$KALMAN_Y,4671.7,-202.7,116.2,-10907.6,57.1
$MHEAD_RNG_PITCHd_Wd,95.1,272,-21.7,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.04,-46.4,0.0,0.0,0,84,0.00,0.00,-59.65,0.000,6,0.000,0.000,11,2222,2991
$GC,86,-1.10,-93.0,2.1,-1.5,11,105,10.07,0.00,-4.93,0.000,6,0.216,0.000,2464,2223,3180
$GC,172,-1.10,-93.0,10.2,-7.0,26,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2223,3183
$GC,246,-1.10,-93.0,14.8,-6.3,39,252,0.00,2.33,0.00,0.000,4,0.000,0.039,2464,803,3183
$GC,286,-1.10,-93.0,17.8,-7.1,46,292,0.00,2.28,0.00,0.000,6,0.000,0.035,2462,2206,3183
$GC,363,-1.10,-93.0,23.0,-6.6,56,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2207,3183
$GC,554,-1.10,-93.0,35.7,-7.0,74,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2207,3184
$GC,745,-1.10,-93.0,48.5,-6.5,92,749,0.00,2.33,0.00,0.000,4,0.000,0.050,2451,3620,3185
$GC,796,-1.10,-93.0,52.1,-7.0,96,800,0.00,2.25,0.00,0.000,6,0.000,0.028,2451,2194,3184
$GC,1121,-1.10,-93.0,74.8,-7.3,126,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2193,3185
$STATE,1416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1416,begin apogee
$GC,1420,-0.23,0.0,95.6,6.4,154,1499,0.98,0.00,72.88,0.825,6,0.128,0.000,2747,2190,2799
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1501,1.10,93.0,96.9,0.0,162,1581,1.27,2.38,71.22,0.691,4,0.077,0.048,3169,3552,2419
$GC,1631,1.10,93.0,87.6,10.2,174,1638,0.00,2.33,0.00,0.000,6,0.000,0.030,3179,2162,2418
$GC,1958,1.10,93.0,57.0,9.4,205,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2161,2418
$GC,2274,1.10,93.0,28.8,9.0,235,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2161,2417
$GC,2470,1.10,93.0,13.5,7.4,260,2476,0.00,2.33,0.00,0.000,4,0.000,0.047,3179,3563,2417
$GC,2506,1.10,93.0,10.3,8.5,266,2512,0.00,2.25,0.00,0.000,6,0.000,0.031,3190,2148,2417
$GC,2580,1.10,93.0,3.7,8.9,279,2586,0.00,2.33,0.00,0.000,4,0.000,0.048,3190,3554,2417
$STATE,2766,end climb,NO_VERTICAL_VELOCITY
$STATE,2766,begin surface
$SM_CCo,2768,267.90,0.652,0,0,204,636.80
$SM_GC,1.16,9.30,0.00,0.00,0.042,0.000,0.000,7,2199,196,-8.70,-0.31,638.76
$IRIDIUM_FIX,4748.51,-12231.73,110907,131328
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.0,44.1
$24V_AH,24.5,20.623
$10V_AH,10.8,8.758
$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,21.625,23.050,144.100,267.900,0.000,40.085,36.025,95.112,0.750,0.000,0.000,15.503,529.784,1545.375,474.445,609.619,259.761,33.338,776.272,0.000,622.114,0.000,2.516
$DEVICE_MAMPS,216.294,49.855,824.525,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.632,244.242,526.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15946,312
$CFSIZE,260165632,253472768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,113450,4805.131,-12220.928,5,1.3,6,18.3