version: 66.02
glider: 128
mission: 2
dive: 176
start: 9 12 107 13 19 53
data:
$ID,128
$MISSION,2
$DIVE,176
$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,-62727.34
$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,59
$R_STBD_OVSHOOT,40
$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
$GPS1,131437,4805.236,-12221.099,28,1.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.5
$GPS2,131851,4805.116,-12221.049,11,1.7,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,-0.051
$KALMAN_X,14028.2,43.6,-147.3,-10406.0,271.7
$KALMAN_Y,6836.9,-164.4,208.4,-13081.6,-25.1
$MHEAD_RNG_PITCHd_Wd,209.1,223,-30.2,-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,19,begin dive
$GC,21,-1.40,-24.7,0.0,0.0,0,77,0.00,0.00,-54.28,0.000,6,0.000,0.000,19,2264,2902
$GC,80,-1.43,-44.4,2.6,-2.3,10,98,9.70,0.00,-1.80,0.000,6,0.221,0.000,2359,2265,2982
$GC,166,-1.43,-44.4,13.8,-8.8,25,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2265,2983
$GC,240,-1.43,-48.3,17.3,-4.5,38,246,0.00,0.00,-0.20,0.000,6,0.000,0.000,2359,2265,2999
$GC,313,-1.43,-51.8,20.4,-4.5,50,315,0.00,0.00,-0.20,0.000,6,0.000,0.000,2359,2265,3016
$GC,504,-1.43,-51.8,31.0,-5.4,68,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2265,3016
$GC,695,-1.43,-51.8,41.2,-5.1,86,699,0.00,2.28,0.00,0.000,4,0.000,0.047,2350,3650,3017
$GC,735,-1.43,-51.8,43.4,-5.9,89,739,0.00,2.20,0.00,0.000,6,0.000,0.028,2350,2242,3017
$GC,932,-1.43,-51.8,53.4,-5.0,107,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2240,3017
$GC,1250,-1.43,-51.8,69.9,-5.4,137,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2240,3017
$GC,1568,-1.43,-51.8,86.7,-5.6,167,1572,0.00,2.17,0.00,0.000,4,0.000,0.038,2349,862,3017
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1724,-0.23,0.0,95.1,5.5,180,1771,1.33,0.00,41.72,0.818,6,0.146,0.000,2735,2163,2800
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1773,1.43,51.8,96.1,0.0,185,1821,1.60,0.00,40.50,0.709,6,0.078,0.000,3275,2164,2587
$GC,2138,1.43,51.8,64.0,8.9,220,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2164,2585
$GC,2457,1.43,51.8,35.2,8.7,250,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2164,2585
$GC,2648,1.43,51.8,19.4,8.5,268,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2164,2585
$GC,2723,1.43,51.8,14.1,7.3,281,2729,0.00,2.25,0.00,0.000,4,0.000,0.044,3275,3549,2585
$GC,2746,1.43,51.8,12.3,7.1,285,2753,0.00,2.20,0.00,0.000,6,0.000,0.030,3285,2157,2585
$GC,2821,1.43,51.8,7.5,6.2,298,2827,0.00,2.30,0.00,0.000,4,0.000,0.044,3285,3559,2585
$GC,3130,1.49,95.3,6.7,-1.0,353,3172,0.00,2.22,32.72,0.771,6,0.000,0.029,3295,2146,2410
$GC,3240,1.52,121.1,5.2,1.4,372,3264,0.00,2.42,19.65,0.718,4,0.000,0.042,3295,3554,2305
$GC,3406,1.57,166.1,4.0,-1.3,401,3446,0.00,2.25,33.50,0.707,6,0.000,0.029,3305,2150,2122
$STATE,3479,end climb,SURFACE_DEPTH_REACHED
$STATE,3479,begin surface coast
$FINISH,0.4,1.023586
$STATE,3549,end surface coast,CONTROL_FINISHED_OK
$STATE,3549,begin surface
$SM_CCo,3567,72.45,0.664,0,0,1576,300.00
$SM_GC,1.00,0.00,0.00,72.45,0.000,0.000,0.664,12,2264,1576,-8.78,0.40,300.00
$IRIDIUM_FIX,4748.51,-12219.12,120907,161654
$TT8_MAMPS,0.026078
$HUMID,1895
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,53.2
$24V_AH,24.9,22.419
$10V_AH,10.7,9.901
$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,22.125,22.550,168.100,72.450,0.000,37.050,43.224,95.177,0.500,0.000,0.000,12.787,698.113,1826.892,290.500,815.269,287.255,33.337,680.660,0.000,839.073,0.000,2.525
$DEVICE_MAMPS,220.896,54.457,818.389,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.188,330.256,719.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22282,426
$CFSIZE,260165632,252772352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,142115,4804.921,-12221.240,7,1.8,8,18.3