version: 66.02
glider: 128
mission: 2
dive: 272
start: 9 16 107 22 24 6
data:
$ID,128
$MISSION,2
$DIVE,272
$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,-65721.203
$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,18
$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,32
$R_STBD_OVSHOOT,37
$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
$GPS1,221833,4805.579,-12221.705,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,222303,4805.603,-12221.703,13,1.8,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.139
$KALMAN_X,20401.8,-0.5,152.3,-17842.2,74.2
$KALMAN_Y,10680.8,134.0,-129.3,-15989.0,77.5
$MHEAD_RNG_PITCHd_Wd,134.1,1415,-10.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.6,0.0,0.0,0,96,0.00,0.00,-71.53,0.000,2,0.000,0.000,16,2263,3328
$GC,99,-0.77,-146.6,3.1,-2.8,13,117,10.35,2.35,-1.50,0.000,4,0.213,0.064,2555,3649,3399
$GC,330,-0.77,-146.6,24.6,-7.0,48,336,0.00,2.30,0.00,0.000,6,0.000,0.030,2555,2233,3401
$GC,527,-0.77,-146.6,37.7,-6.6,67,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3401
$GC,718,-0.77,-146.6,50.5,-6.6,85,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3401
$GC,1038,-0.77,-146.6,71.4,-6.7,115,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3401
$GC,1356,-0.77,-146.6,92.3,-6.2,145,1359,0.00,2.35,0.00,0.000,4,0.000,0.053,2550,3648,3401
$GC,1390,-0.77,-146.6,94.6,-6.9,148,1394,0.00,2.20,0.00,0.000,6,0.000,0.028,2551,2245,3401
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1410,-0.28,0.0,95.6,6.4,149,1527,0.55,0.00,111.25,0.759,6,0.113,0.000,2724,2138,2800
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1531,0.77,146.6,98.2,0.0,161,1648,1.02,0.00,111.35,0.692,6,0.082,0.000,3059,2137,2201
$GC,1966,0.77,146.6,71.0,6.9,203,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2137,2199
$GC,2284,0.77,146.6,49.2,6.9,233,2288,0.00,2.38,0.00,0.000,4,0.000,0.052,3059,3552,2198
$GC,2313,0.77,146.6,47.0,7.8,235,2319,0.00,2.22,0.00,0.000,6,0.000,0.033,3067,2171,2198
$GC,2510,0.77,146.6,32.7,7.4,254,2514,0.00,2.35,0.00,0.000,4,0.000,0.049,3073,741,2198
$GC,2550,0.77,146.6,29.9,7.5,257,2554,0.00,2.28,0.00,0.000,6,0.000,0.038,3073,2141,2198
$GC,2751,0.77,146.6,16.4,6.6,280,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2142,2198
$GC,2825,0.77,146.6,11.4,6.7,293,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2141,2198
$GC,2899,0.77,146.6,6.4,6.6,306,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2141,2198
$GC,2973,0.77,146.6,2.0,6.0,319,2979,0.00,2.35,0.00,0.000,4,0.000,0.054,3073,3559,2198
$STATE,2985,end climb,SURFACE_DEPTH_REACHED
$STATE,2985,begin surface coast
$FINISH,0.3,1.002953
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3044,73.95,0.709,0,0,1577,300.00
$SM_GC,0.89,0.00,0.00,73.95,0.000,0.000,0.709,10,2228,1577,-8.78,-0.62,300.00
$IRIDIUM_FIX,4748.51,-12219.12,170907,010109
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,46.6
$24V_AH,24.5,29.614
$10V_AH,10.7,14.412
$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,20.575,23.050,222.600,73.950,0.000,37.693,39.108,104.241,0.250,0.000,0.000,14.644,545.776,1577.968,355.052,639.065,296.342,33.319,680.184,0.000,654.151,0.000,2.518
$DEVICE_MAMPS,213.226,64.428,759.330,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,235.483,258.197,553.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15955,328
$CFSIZE,260165632,250056704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,231707,4805.361,-12221.398,26,0.8,27,18.3