version: 66.02
glider: 128
mission: 2
dive: 166
start: 9 12 107 2 5 40
data:
$ID,128
$MISSION,2
$DIVE,166
$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,-62519.379
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$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
$GPS1,020026,4808.006,-12224.076,11,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.6
$GPS2,020439,4808.003,-12224.064,14,1.5,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.135
$KALMAN_X,12425.5,43.8,-106.0,-12569.7,-4.3
$KALMAN_Y,6333.7,205.3,240.6,-7636.3,73.9
$MHEAD_RNG_PITCHd_Wd,131.1,6732,-10.6,-5.026
$D_GRID,103
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.66,-146.6,0.0,0.0,0,145,0.00,0.00,-119.90,0.000,2,0.000,0.000,9,2236,3249
$GC,147,-0.66,-146.6,3.1,-2.8,22,167,10.65,2.47,-3.10,0.000,4,0.219,0.064,2591,3653,3400
$GC,469,-0.66,-146.6,26.7,-5.3,68,476,0.00,2.28,0.00,0.000,6,0.000,0.028,2592,2237,3403
$GC,667,-0.66,-146.6,36.8,-5.1,87,671,0.00,2.38,0.00,0.000,4,0.000,0.052,2591,3660,3404
$GC,762,-0.66,-146.6,42.1,-5.2,95,766,0.00,2.22,0.00,0.000,6,0.000,0.028,2591,2250,3405
$GC,959,-0.66,-146.6,52.7,-5.2,113,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2249,3404
$GC,1278,-0.66,-146.6,68.9,-4.9,143,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2249,3404
$GC,1596,-0.66,-146.6,85.2,-5.1,173,1600,0.00,2.22,0.00,0.000,4,0.000,0.041,2591,855,3405
$GC,1624,-0.66,-146.6,86.8,-5.8,175,1628,0.00,2.25,0.00,0.000,6,0.000,0.038,2591,2256,3405
$STATE,1787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1787,begin apogee
$GC,1793,-0.23,0.0,95.1,5.0,190,1911,0.47,0.00,112.20,0.774,6,0.104,0.000,2742,2142,2799
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1913,0.66,146.6,97.0,0.0,202,2029,0.88,0.00,111.62,0.709,6,0.079,0.000,3031,2142,2202
$GC,2343,0.66,146.6,73.2,6.2,243,2347,0.00,2.28,0.00,0.000,4,0.000,0.044,3036,762,2200
$GC,2371,0.66,146.6,71.6,5.7,245,2377,0.00,2.28,0.00,0.000,6,0.000,0.036,3036,2156,2199
$GC,2696,0.66,146.6,51.6,6.1,276,2700,0.00,2.33,0.00,0.000,4,0.000,0.051,3036,3559,2199
$GC,2739,0.66,146.6,48.5,7.2,279,2746,0.00,2.25,0.00,0.000,6,0.000,0.031,3037,2172,2198
$GC,2937,0.66,146.6,36.4,6.2,298,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,2198
$GC,3127,0.66,146.6,25.0,5.5,316,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,2198
$GC,3325,0.66,146.6,13.8,5.7,343,3331,0.00,2.30,0.00,0.000,4,0.000,0.051,3037,3553,2198
$GC,3348,0.66,146.6,12.4,5.7,347,3354,0.00,2.25,0.00,0.000,6,0.000,0.032,3039,2148,2198
$GC,3422,0.66,146.6,8.2,5.7,360,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2147,2198
$GC,3496,0.68,158.2,4.7,4.7,373,3514,0.00,2.33,9.12,0.801,4,0.000,0.044,3038,748,2154
$GC,3554,0.71,184.6,2.4,4.2,383,3567,0.00,2.28,8.43,0.800,2,0.000,0.036,3038,2155,2111
$STATE,3568,end climb,SURFACE_DEPTH_REACHED
$STATE,3568,begin surface coast
$FINISH,1.7,1.024545
$STATE,3573,end surface coast,CONTROL_FINISHED_OK
$STATE,3573,begin surface
$SM_CCo,3590,63.62,0.676,0,0,1577,300.00
$SM_GC,1.10,0.00,0.00,63.62,0.000,0.000,0.676,9,2264,1577,-8.79,0.40,300.00
$IRIDIUM_FIX,4748.51,-12229.01,120907,050510
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,52.2
$24V_AH,24.4,21.706
$10V_AH,10.8,9.420
$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,20.650,32.400,241.375,63.625,0.000,37.220,37.735,95.749,0.500,0.000,0.000,16.232,626.285,1863.879,391.621,772.567,277.705,33.349,787.423,0.000,788.676,0.000,2.526
$DEVICE_MAMPS,218.595,65.195,800.748,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,273.452,305.975,651.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19124,386
$CFSIZE,260165632,253063168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,030738,4807.938,-12223.980,28,1.2,29,18.3