version: 66.02
glider: 128
mission: 2
dive: 302
start: 9 18 107 3 41 10
data:
$ID,128
$MISSION,2
$DIVE,302
$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,-66456.398
$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,35
$R_STBD_OVSHOOT,30
$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,150
$AH0_10V,80
$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
$GPS1,032635,4808.011,-12224.026,10,2.7,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,034009,4807.984,-12223.974,13,1.2,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.142
$KALMAN_X,21624.8,37.6,-129.7,-21628.2,137.8
$KALMAN_Y,12668.3,155.1,280.5,-13995.5,-50.1
$MHEAD_RNG_PITCHd_Wd,136.5,6640,-10.6,-5.026
$D_GRID,105
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-146.6,0.0,0.0,0,91,0.00,0.00,-65.25,0.000,2,0.000,0.000,10,2241,3224
$GC,94,-0.77,-146.6,3.4,-3.1,12,114,10.30,2.47,-3.53,0.000,4,0.209,0.064,2555,3659,3401
$GC,315,-0.77,-146.6,24.9,-7.2,45,322,0.00,2.30,0.00,0.000,6,0.000,0.028,2555,2235,3404
$GC,513,-0.77,-146.6,38.2,-6.7,64,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2234,3404
$GC,704,-0.77,-146.6,50.7,-6.4,82,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2234,3405
$GC,1023,-0.77,-146.6,71.1,-6.5,112,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2233,3405
$GC,1341,-0.77,-146.6,91.3,-6.4,142,1345,0.00,2.35,0.00,0.000,4,0.000,0.051,2550,3654,3405
$GC,1378,-0.77,-146.6,93.9,-6.8,145,1385,0.00,2.25,0.00,0.000,6,0.000,0.029,2550,2244,3404
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1410,-0.28,0.0,95.5,6.1,148,1527,0.55,0.00,111.35,0.756,6,0.111,0.000,2726,2138,2800
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1531,0.77,146.6,98.2,0.0,160,1648,1.02,0.00,111.05,0.696,6,0.080,0.000,3060,2138,2201
$GC,1966,0.77,146.6,70.9,7.1,202,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2138,2198
$GC,2285,0.77,146.6,48.5,6.7,232,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2138,2198
$GC,2476,0.77,146.6,35.7,6.9,250,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2138,2198
$GC,2667,0.77,146.6,22.9,6.3,268,2671,0.00,2.35,0.00,0.000,4,0.000,0.050,3060,3557,2198
$GC,2695,0.77,146.6,20.9,7.2,270,2701,0.00,2.22,0.00,0.000,6,0.000,0.033,3065,2169,2197
$GC,2902,0.77,146.6,7.5,6.4,306,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2169,2197
$GC,2976,0.77,146.6,3.5,5.2,319,2982,0.00,2.33,0.00,0.000,4,0.000,0.046,3066,738,2197
$GC,3017,0.83,193.9,2.3,3.6,326,3036,0.00,2.28,14.25,0.837,2,0.000,0.037,3065,2149,2107
$STATE,3037,end climb,SURFACE_DEPTH_REACHED
$STATE,3037,begin surface coast
$FINISH,0.4,1.002511
$STATE,3121,end surface coast,CONTROL_FINISHED_OK
$STATE,3121,begin surface
$SM_CCo,3139,63.08,0.678,0,0,1576,300.00
$SM_GC,1.04,0.00,0.00,63.08,0.000,0.000,0.678,6,2265,1576,-8.80,0.42,300.00
$IRIDIUM_FIX,4748.51,-12226.29,180907,070700
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,38.8
$24V_AH,24.5,31.757
$10V_AH,10.7,15.670
$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,20.525,18.850,236.650,63.075,0.000,152.784,247.154,132.704,0.750,0.000,0.000,15.166,565.069,1809.206,341.812,660.799,665.298,33.321,674.340,0.000,680.049,0.000,2.511
$DEVICE_MAMPS,208.624,63.661,836.797,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.440,274.100,580.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15969,344
$CFSIZE,260165632,249237504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,043521,4807.654,-12223.660,11,1.2,12,18.3