version: 66.02
glider: 128
mission: 2
dive: 167
start: 9 12 107 3 13 22
data:
$ID,128
$MISSION,2
$DIVE,167
$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,-62538.344
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,030738,4807.938,-12223.980,28,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.8
$GPS2,031220,4807.759,-12223.731,11,1.2,16,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.136
$KALMAN_X,12528.7,21.3,-80.2,-12267.0,52.5
$KALMAN_Y,6455.4,204.1,178.8,-8147.5,-15.3
$MHEAD_RNG_PITCHd_Wd,131.7,6126,-10.6,-5.026
$D_GRID,105
$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,21,-0.66,-146.6,0.0,0.0,0,89,0.00,0.00,-65.72,0.000,2,0.000,0.000,9,2264,3234
$GC,91,-0.66,-146.6,3.6,-3.8,12,111,10.62,2.40,-3.33,0.000,4,0.217,0.065,2594,3645,3401
$GC,409,-0.66,-146.6,27.2,-6.5,57,414,0.00,2.25,0.00,0.000,6,0.000,0.029,2594,2227,3403
$GC,612,-0.66,-146.6,38.2,-5.5,76,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2227,3404
$GC,803,-0.66,-146.6,48.6,-5.3,94,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2227,3404
$GC,994,-0.66,-146.6,59.0,-5.6,112,998,0.00,2.38,0.00,0.000,4,0.000,0.053,2594,3645,3404
$GC,1026,-0.66,-146.6,60.9,-6.0,114,1033,0.00,2.22,0.00,0.000,6,0.000,0.028,2594,2250,3404
$GC,1352,-0.66,-146.6,78.0,-5.1,145,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2249,3404
$GC,1671,-0.66,-146.6,94.7,-5.4,175,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2249,3404
$STATE,1678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1678,begin apogee
$GC,1683,-0.23,0.0,95.3,5.3,176,1801,0.47,0.00,112.00,0.772,6,0.106,0.000,2744,2141,2800
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1804,0.66,146.6,97.6,0.0,188,1920,0.85,0.00,111.95,0.712,6,0.081,0.000,3024,2140,2202
$GC,2234,0.66,146.6,74.2,6.4,229,2238,0.00,2.38,0.00,0.000,4,0.000,0.051,3023,3555,2199
$GC,2262,0.66,146.6,72.3,7.6,231,2268,0.00,2.25,0.00,0.000,6,0.000,0.032,3026,2169,2200
$GC,2587,0.66,146.6,52.5,5.7,262,2591,0.00,2.33,0.00,0.000,4,0.000,0.044,3029,744,2198
$GC,2618,0.66,146.6,50.5,5.9,264,2626,0.00,2.30,0.00,0.000,6,0.000,0.036,3029,2140,2198
$GC,2945,0.66,146.6,31.8,5.7,295,2949,0.00,2.35,0.00,0.000,4,0.000,0.051,3029,3563,2198
$GC,2984,0.66,146.6,29.3,6.4,298,2988,0.00,2.28,0.00,0.000,6,0.000,0.032,3037,2140,2198
$GC,3183,0.66,146.6,17.7,5.7,320,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2139,2198
$GC,3257,0.66,146.6,13.6,5.6,333,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2140,2198
$GC,3331,0.66,146.6,9.4,5.7,346,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2140,2198
$GC,3404,0.66,146.6,5.6,5.2,359,3410,0.00,2.25,0.00,0.000,4,0.000,0.045,3038,746,2198
$GC,3450,0.69,167.1,3.5,4.4,367,3474,0.00,2.28,15.48,0.863,6,0.000,0.037,3038,2158,2117
$STATE,3495,end climb,SURFACE_DEPTH_REACHED
$STATE,3495,begin surface coast
$FINISH,0.6,1.023983
$STATE,3565,end surface coast,CONTROL_FINISHED_OK
$STATE,3565,begin surface
$SM_CCo,3582,65.05,0.692,0,0,1576,300.00
$SM_GC,1.00,0.00,0.00,65.05,0.000,0.000,0.692,7,2267,1576,-8.79,0.45,300.00
$IRIDIUM_FIX,4751.72,-12223.57,120907,060655
$TT8_MAMPS,0.026845
$HUMID,1854
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,29.4
$24V_AH,24.4,21.779
$10V_AH,10.8,9.468
$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,20.650,27.925,239.425,65.050,0.000,37.153,58.640,102.068,0.750,0.000,0.000,18.335,637.724,1876.233,359.006,771.988,309.174,33.340,736.955,0.000,782.787,0.000,7.039
$DEVICE_MAMPS,217.061,65.195,862.875,691.834,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.829,303.284,653.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19140,387
$CFSIZE,260165632,253034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,041514,4807.418,-12223.374,12,1.3,30,18.3