version: 66.02
glider: 128
mission: 2
dive: 175
start: 9 12 107 12 11 0
data:
$ID,128
$MISSION,2
$DIVE,175
$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,-62713.926
$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,50
$R_STBD_OVSHOOT,47
$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
$GPS1,120520,4805.542,-12221.235,29,2.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.7
$GPS2,120959,4805.517,-12221.193,12,2.1,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.006,-0.157
$KALMAN_X,13772.9,35.1,-85.5,-10385.9,141.6
$KALMAN_Y,7101.7,-175.9,94.8,-12482.5,120.9
$MHEAD_RNG_PITCHd_Wd,163.8,986,-10.6,-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,-0.66,-146.6,0.0,0.0,0,83,0.00,0.00,-60.45,0.000,2,0.000,0.000,13,2266,3082
$GC,86,-0.66,-146.6,3.1,-2.8,11,110,10.57,2.35,-6.65,0.000,4,0.216,0.051,2601,844,3399
$GC,415,-0.66,-146.6,28.5,-5.6,57,419,0.00,2.28,0.00,0.000,6,0.000,0.035,2601,2248,3402
$GC,611,-0.66,-146.6,38.7,-5.6,75,615,0.00,2.28,0.00,0.000,4,0.000,0.039,2601,843,3402
$GC,718,-0.66,-146.6,44.9,-6.2,84,723,0.00,2.28,0.00,0.000,6,0.000,0.035,2601,2259,3403
$GC,915,-0.66,-146.6,55.5,-5.3,102,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2259,3403
$GC,1234,-0.66,-146.6,72.0,-5.2,132,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2259,3403
$GC,1553,-0.66,-146.6,88.4,-5.3,162,1557,0.00,2.25,0.00,0.000,4,0.000,0.037,2601,852,3403
$GC,1592,-0.66,-146.6,90.5,-5.3,165,1596,0.00,2.22,0.00,0.000,6,0.000,0.035,2601,2253,3403
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1681,begin apogee
$GC,1686,-0.23,0.0,95.0,5.2,173,1804,0.45,0.00,111.53,0.763,6,0.106,0.000,2744,2135,2800
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1806,0.66,146.6,97.0,0.0,185,1922,0.85,0.00,111.62,0.708,6,0.079,0.000,3024,2135,2202
$GC,2236,0.66,146.6,74.4,5.9,226,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2135,2199
$GC,2555,0.66,146.6,55.7,5.5,256,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2135,2199
$GC,2874,0.66,146.6,38.9,5.3,286,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2135,2199
$GC,3065,0.66,146.6,28.7,5.7,304,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2135,2199
$GC,3257,0.70,181.1,19.1,4.0,324,3286,0.00,0.00,26.73,0.811,6,0.000,0.000,3024,2135,2061
$GC,3354,0.70,181.1,14.2,5.4,341,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2135,2059
$GC,3427,0.70,181.1,9.2,6.7,354,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2135,2059
$GC,3501,0.75,215.7,5.8,4.0,367,3530,0.10,0.00,26.58,0.739,6,0.072,0.000,3074,2135,1920
$GC,3599,0.82,273.7,3.3,3.2,384,3639,0.00,0.00,37.90,0.686,2,0.000,0.000,3075,2134,1715
$STATE,3639,end climb,SURFACE_DEPTH_REACHED
$STATE,3639,begin surface coast
$FINISH,0.4,1.008537
$STATE,3712,end surface coast,CONTROL_FINISHED_OK
$STATE,3712,begin surface
$SM_CCo,3729,19.05,0.705,0,0,1577,300.00
$SM_GC,1.40,0.00,0.00,19.05,0.000,0.000,0.705,19,2264,1577,-8.76,0.40,300.00
$IRIDIUM_FIX,4748.51,-12224.57,120907,141439
$TT8_MAMPS,0.026845
$HUMID,1856
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,24.4,22.361
$10V_AH,10.8,9.850
$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,20.850,14.000,314.350,19.050,0.000,37.298,40.366,99.080,1.250,0.000,0.000,34.182,644.297,1963.961,337.655,822.098,283.529,33.339,738.065,0.000,816.442,0.000,11.243
$DEVICE_MAMPS,215.527,51.389,810.719,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.615,316.939,681.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19081,404
$CFSIZE,260165632,252805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,131437,4805.236,-12221.099,28,1.1,33,18.3