version: 66.02
glider: 128
mission: 2
dive: 290
start: 9 17 107 15 26 59
data:
$ID,128
$MISSION,2
$DIVE,290
$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,-66154.609
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,152126,4804.937,-12220.827,44,1.8,50,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.4
$GPS2,152559,4804.910,-12220.803,10,2.2,29,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,-0.007
$KALMAN_X,21313.1,-405.1,-314.9,-16772.0,191.5
$KALMAN_Y,11918.5,-189.9,346.6,-18659.4,192.7
$MHEAD_RNG_PITCHd_Wd,248.1,296,-18.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-60.5,0.0,0.0,0,85,0.00,0.00,-57.03,0.000,6,0.000,0.000,4,2235,3049
$GC,88,-1.14,-79.7,3.8,-3.9,11,108,9.90,2.42,-1.60,0.000,4,0.212,0.064,2437,3654,3127
$GC,361,-1.14,-79.7,29.1,-6.4,48,365,0.00,2.28,0.00,0.000,6,0.000,0.029,2436,2230,3129
$GC,558,-1.14,-79.7,41.7,-6.7,66,562,0.00,2.38,0.00,0.000,4,0.000,0.051,2427,3653,3129
$GC,590,-1.14,-79.7,44.1,-7.2,68,597,0.00,2.25,0.00,0.000,6,0.000,0.028,2427,2250,3129
$GC,788,-1.14,-79.7,57.2,-6.6,87,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2249,3130
$GC,1106,-1.14,-79.7,77.6,-6.6,117,1110,0.00,2.22,0.00,0.000,4,0.000,0.039,2427,850,3130
$GC,1168,-1.14,-79.7,82.0,-7.2,122,1173,0.12,2.25,0.00,0.000,6,0.156,0.038,2447,2249,3130
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1381,-0.28,0.0,95.3,6.0,141,1448,0.88,0.00,62.00,0.782,6,0.125,0.000,2720,2138,2800
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1451,1.14,79.7,96.8,0.0,148,1518,1.38,0.00,60.70,0.690,6,0.079,0.000,3178,2138,2474
$GC,1836,1.14,79.7,65.6,9.1,185,1840,0.00,2.38,0.00,0.000,4,0.000,0.051,3178,3555,2473
$GC,1874,1.14,79.7,61.9,9.7,188,1881,0.00,2.28,0.00,0.000,6,0.000,0.033,3189,2171,2472
$GC,2203,1.14,79.7,34.0,8.1,219,2207,0.00,2.33,0.00,0.000,4,0.000,0.052,3188,3559,2472
$GC,2253,1.14,79.7,29.3,8.9,223,2257,0.00,2.28,0.00,0.000,6,0.000,0.033,3199,2143,2472
$GC,2456,1.14,79.7,12.7,7.8,249,2462,0.00,2.38,0.00,0.000,4,0.000,0.054,3199,3558,2472
$GC,2497,1.14,79.7,9.0,8.7,256,2503,0.00,2.28,0.00,0.000,6,0.000,0.033,3210,2144,2472
$GC,2571,1.14,79.7,4.3,6.2,269,2578,0.00,2.38,0.00,0.000,4,0.000,0.053,3210,3565,2471
$STATE,2834,end climb,NO_VERTICAL_VELOCITY
$STATE,2834,begin surface
$SM_CCo,2838,270.83,0.642,0,0,203,636.80
$SM_GC,1.12,9.27,0.00,0.00,0.041,0.000,0.000,13,2241,194,-8.69,-0.25,639.01
$IRIDIUM_FIX,4745.30,-12220.12,170907,181853
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,44.6
$24V_AH,24.7,30.869
$10V_AH,10.8,15.149
$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,21.550,32.475,122.700,270.825,0.000,38.770,39.833,89.972,0.250,0.000,0.000,31.354,549.565,1557.695,459.828,661.574,285.814,33.318,770.469,0.000,658.278,0.000,2.516
$DEVICE_MAMPS,212.459,64.428,781.573,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.856,245.432,533.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15927,316
$CFSIZE,260165632,249577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,162121,4804.919,-12221.176,8,1.5,9,18.3