version: 66.02
glider: 128
mission: 2
dive: 177
start: 9 12 107 14 27 3
data:
$ID,128
$MISSION,2
$DIVE,177
$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,-62760.062
$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,48
$R_STBD_OVSHOOT,52
$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
$GPS1,142115,4804.921,-12221.240,7,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.5
$GPS2,142602,4804.933,-12221.233,13,1.7,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.032,0.086
$KALMAN_X,13872.5,138.7,-92.1,-10623.6,164.4
$KALMAN_Y,6666.4,-170.0,239.8,-13277.9,-201.5
$MHEAD_RNG_PITCHd_Wd,2.0,315,-24.7,-5.026
$D_GRID,110
$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,-1.17,-36.2,0.0,0.0,0,82,0.00,0.00,-56.03,0.000,6,0.000,0.000,12,2264,2948
$GC,85,-1.20,-62.4,2.9,-2.5,11,104,9.88,2.30,-2.40,0.000,4,0.216,0.057,2415,3640,3056
$GC,251,-1.21,-66.3,17.6,-4.6,40,258,0.00,2.22,-0.22,0.000,6,0.000,0.028,2415,2225,3075
$GC,330,-1.21,-72.2,21.2,-4.5,52,335,0.00,2.17,-0.28,0.000,4,0.000,0.051,2415,867,3097
$GC,639,-1.21,-72.2,37.6,-5.4,79,646,0.00,2.20,0.00,0.000,6,0.000,0.035,2405,2243,3099
$GC,836,-1.21,-72.2,48.2,-5.2,98,840,0.00,2.22,0.00,0.000,4,0.000,0.038,2405,859,3099
$GC,1145,-1.21,-72.2,66.7,-6.4,125,1149,0.00,2.22,0.00,0.000,6,0.000,0.035,2402,2251,3099
$GC,1471,-1.21,-72.2,85.8,-5.4,155,1475,0.00,2.22,0.00,0.000,4,0.000,0.038,2402,860,3099
$GC,1570,-1.21,-72.2,91.9,-5.9,163,1578,0.10,2.22,0.00,0.000,6,0.153,0.034,2424,2248,3099
$STATE,1628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1628,begin apogee
$GC,1633,-0.23,0.0,95.2,5.8,169,1693,1.05,0.00,56.45,0.798,6,0.131,0.000,2743,2144,2800
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1696,1.21,72.2,96.2,0.0,175,1758,1.38,0.00,55.55,0.703,6,0.075,0.000,3204,2144,2504
$GC,2076,1.21,72.2,64.3,8.9,211,2080,0.00,2.33,0.00,0.000,4,0.000,0.044,3204,3550,2502
$GC,2104,1.21,72.2,61.6,9.6,213,2110,0.00,2.22,0.00,0.000,6,0.000,0.029,3215,2158,2502
$GC,2429,1.21,72.2,31.8,9.2,244,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2158,2502
$GC,2621,1.21,72.2,16.3,7.8,266,2628,0.00,2.30,0.00,0.000,4,0.000,0.042,3225,749,2501
$GC,2668,1.21,72.2,12.4,8.4,274,2674,0.00,2.22,0.00,0.000,6,0.000,0.033,3225,2151,2502
$GC,2742,1.21,72.2,6.5,8.2,287,2748,0.00,2.28,0.00,0.000,4,0.000,0.041,3234,745,2502
$GC,3052,1.28,129.2,4.3,-0.5,342,3099,0.00,2.22,41.53,0.760,6,0.000,0.033,3234,2155,2273
$STATE,3103,end climb,NO_VERTICAL_VELOCITY
$STATE,3103,begin surface
$SM_CCo,3106,253.50,0.636,0,0,204,636.80
$SM_GC,1.07,9.40,0.00,0.00,0.041,0.000,0.000,10,2268,195,-8.70,0.51,639.01
$IRIDIUM_FIX,4748.51,-12221.84,120907,171708
$TT8_MAMPS,0.026078
$HUMID,1844
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,51.9
$24V_AH,24.7,22.507
$10V_AH,10.8,9.946
$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,21.800,31.650,153.525,253.500,0.000,37.282,44.147,105.589,0.500,0.000,0.000,32.092,606.893,1631.641,458.056,786.598,293.072,33.335,831.353,0.000,785.145,0.000,2.527
$DEVICE_MAMPS,215.527,56.758,798.447,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.057,271.526,592.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,351
$CFSIZE,260165632,252751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,152601,4805.048,-12221.167,37,1.7,38,18.3