version: 66.02
glider: 128
mission: 2
dive: 154
start: 9 11 107 12 37 52
data:
$ID,128
$MISSION,2
$DIVE,154
$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,-62289.242
$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,41
$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
$GPS1,123237,4804.857,-12220.890,9,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.3
$GPS2,123651,4804.873,-12220.889,10,1.6,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.046,0.021
$KALMAN_X,12386.2,-53.2,-139.8,-8477.7,16.2
$KALMAN_Y,4954.6,-208.7,184.5,-11581.7,163.8
$MHEAD_RNG_PITCHd_Wd,276.0,273,-42.5,-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,-1.95,-12.9,0.0,0.0,0,78,0.00,0.00,-53.28,0.000,6,0.000,0.000,18,2223,2854
$GC,81,-1.96,-24.7,2.3,-1.9,10,100,8.93,2.35,-1.23,0.000,4,0.218,0.056,2174,3609,2904
$GC,128,-1.96,-24.7,10.8,-16.3,18,134,0.00,2.28,0.00,0.000,6,0.000,0.029,2174,2199,2904
$GC,202,-1.96,-24.7,16.1,-6.1,31,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2198,2905
$GC,276,-1.97,-29.8,18.8,-3.7,44,282,0.00,2.22,-0.22,0.000,4,0.000,0.053,2174,815,2923
$GC,338,-1.97,-31.9,21.4,-4.5,52,345,0.00,2.30,0.00,0.000,6,0.000,0.035,2164,2215,2923
$GC,535,-1.98,-36.7,30.5,-3.8,71,540,0.00,2.28,-0.30,0.000,4,0.000,0.052,2164,809,2953
$GC,568,-1.98,-37.7,32.1,-4.8,73,575,0.08,2.30,0.00,0.000,6,0.181,0.035,2183,2217,2953
$GC,765,-1.98,-37.9,41.7,-5.0,92,769,0.00,2.28,0.00,0.000,4,0.000,0.039,2184,805,2954
$GC,995,-1.98,-37.9,53.8,-6.0,112,998,0.00,2.25,0.00,0.000,6,0.000,0.035,2175,2218,2954
$GC,1325,-1.98,-38.4,70.9,-4.9,143,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2219,2954
$GC,1643,-1.98,-39.7,86.9,-4.7,173,1647,0.00,2.25,0.00,0.000,4,0.000,0.038,2175,809,2954
$GC,1716,-1.98,-39.7,90.5,-5.3,179,1720,0.00,2.22,0.00,0.000,6,0.000,0.035,2166,2212,2954
$STATE,1831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1831,begin apogee
$GC,1836,-0.23,0.0,95.1,3.6,190,1874,1.98,0.00,30.92,0.917,6,0.161,0.000,2737,2141,2799
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1877,1.98,39.7,95.5,0.0,194,1920,2.08,2.47,31.20,0.748,4,0.075,0.045,3460,3563,2637
$GC,1925,1.98,39.7,92.1,9.0,198,1932,0.00,2.33,0.00,0.000,6,0.000,0.031,3471,2167,2637
$GC,2251,1.98,39.7,52.3,11.6,229,2255,0.00,2.30,0.00,0.000,4,0.000,0.045,3471,3554,2636
$GC,2294,1.98,39.7,46.8,12.0,232,2301,0.00,2.30,0.00,0.000,6,0.000,0.031,3482,2140,2636
$GC,2492,1.98,39.7,25.0,10.6,251,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2140,2636
$GC,2691,1.98,39.7,6.5,8.3,282,2698,0.00,2.25,0.00,0.000,4,0.000,0.042,3492,744,2636
$STATE,2945,end climb,NO_VERTICAL_VELOCITY
$STATE,2945,begin surface
$SM_CCo,2948,314.90,0.742,0,0,204,636.80
$SM_GC,1.05,10.23,0.00,0.00,0.045,0.000,0.000,16,2214,195,-8.69,0.11,639.01
$IRIDIUM_FIX,4745.30,-12220.12,110907,151520
$TT8_MAMPS,0.026078
$HUMID,1827
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,49.3
$24V_AH,25.0,20.783
$10V_AH,10.8,8.843
$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,23.275,36.950,62.125,314.900,0.000,40.892,40.550,95.728,0.250,0.000,0.000,12.207,587.511,1643.098,463.825,683.590,273.093,33.332,792.719,0.000,698.843,0.000,2.522
$DEVICE_MAMPS,217.828,85.904,917.332,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.154,257.306,551.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,327
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,133505,4804.950,-12221.077,6,3.3,26,18.3