version: 66.02
glider: 128
mission: 2
dive: 178
start: 9 12 107 15 38 3
data:
$ID,128
$MISSION,2
$DIVE,178
$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,-62776.918
$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,44
$R_STBD_OVSHOOT,46
$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
$GPS1,152601,4805.048,-12221.167,37,1.7,38,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.0
$GPS2,153702,4805.067,-12221.128,13,2.0,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,0.019
$KALMAN_X,13772.6,190.2,-31.1,-10507.9,11.9
$KALMAN_Y,6756.3,-235.4,133.6,-12950.1,-182.8
$MHEAD_RNG_PITCHd_Wd,49.3,202,-42.5,-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,-1.95,-12.9,0.0,0.0,0,127,0.00,0.00,-103.57,0.000,6,0.000,0.000,10,2268,2853
$GC,129,-1.96,-27.4,1.9,-1.2,19,148,8.95,2.33,-1.62,0.000,4,0.218,0.058,2176,3642,2914
$GC,452,-1.99,-47.8,11.2,0.3,76,459,0.00,2.22,-1.48,0.000,6,0.000,0.029,2176,2221,2997
$GC,527,-2.00,-53.7,13.2,-3.5,89,534,0.00,2.35,-0.32,0.000,4,0.000,0.057,2166,3645,3019
$GC,836,-2.00,-53.7,34.7,-6.8,125,843,0.00,2.20,0.00,0.000,6,0.000,0.028,2166,2251,3020
$GC,1034,-2.00,-53.7,48.2,-6.6,144,1038,0.00,2.28,0.00,0.000,4,0.000,0.044,2155,3644,3021
$GC,1343,-2.00,-53.7,70.3,-7.1,171,1350,0.00,2.17,0.00,0.000,6,0.000,0.028,2155,2237,3021
$GC,1669,-2.00,-53.7,90.4,-6.0,202,1673,0.00,2.30,0.00,0.000,4,0.000,0.044,2144,3646,3021
$STATE,1734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1734,begin apogee
$GC,1741,-0.23,0.0,95.0,7.3,207,1788,2.05,0.00,42.25,0.827,6,0.164,0.000,2742,2150,2800
$STATE,1789,end apogee,CONTROL_FINISHED_OK
$STATE,1789,begin climb
$GC,1791,2.00,53.7,96.0,0.0,212,1844,2.08,2.42,41.35,0.700,4,0.074,0.041,3473,745,2581
$GC,2137,2.00,53.7,48.8,14.5,243,2141,0.00,2.28,0.00,0.000,6,0.000,0.034,3473,2150,2579
$GC,2334,2.00,53.7,22.6,12.5,261,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2150,2578
$GC,2535,2.00,53.7,2.5,5.9,295,2542,0.00,2.28,0.00,0.000,4,0.000,0.041,3483,747,2579
$GC,2572,2.03,77.5,3.6,-1.3,301,2595,0.00,2.25,18.05,0.810,6,0.000,0.035,3483,2155,2482
$GC,2664,2.04,85.3,2.8,3.0,317,2676,0.00,2.33,6.20,0.685,4,0.000,0.044,3483,3561,2452
$GC,2734,2.06,105.8,2.7,-0.4,329,2752,0.00,2.28,11.43,0.723,6,0.000,0.031,3494,2140,2367
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,1.7,1.024130
$STATE,2955,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2955,begin surface
$SM_CCo,2974,85.12,0.662,0,0,1577,300.00
$SM_GC,1.15,0.00,0.00,85.12,0.000,0.000,0.662,15,2260,1577,-8.77,0.28,300.00
$IRIDIUM_FIX,4745.30,-12220.12,120907,191942
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,53.7
$24V_AH,24.9,22.570
$10V_AH,10.8,9.996
$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,23.575,32.225,119.275,85.125,0.000,116.544,153.224,174.553,0.500,0.000,0.000,16.227,629.902,1435.060,296.151,820.963,562.995,33.339,687.302,0.000,833.847,0.000,2.531
$DEVICE_MAMPS,217.828,58.292,826.826,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,257.968,278.310,621.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19197,368
$CFSIZE,260165632,252715008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,162950,4804.941,-12220.914,11,1.8,12,18.3