version: 66.02
glider: 128
mission: 2
dive: 304
start: 9 18 107 5 41 34
data:
$ID,128
$MISSION,2
$DIVE,304
$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,-66504.633
$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,34
$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,150
$AH0_10V,100
$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
$GPS1,053611,4807.322,-12223.328,11,2.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.8
$GPS2,054033,4807.315,-12223.312,12,1.4,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,-0.142
$KALMAN_X,21870.3,89.4,-127.4,-21108.6,212.2
$KALMAN_Y,12847.4,-66.2,150.4,-15064.7,-165.9
$MHEAD_RNG_PITCHd_Wd,136.2,5154,-10.6,-5.026
$D_GRID,103
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,92,0.00,0.00,-64.82,0.000,2,0.000,0.000,10,2259,3183
$GC,95,-0.77,-146.6,3.3,-3.0,12,115,10.32,2.42,-4.45,0.000,4,0.210,0.067,2556,3649,3400
$GC,338,-0.77,-146.6,25.3,-7.0,48,345,0.00,2.28,0.00,0.000,6,0.000,0.029,2556,2242,3403
$GC,536,-0.77,-146.6,38.1,-6.8,67,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2240,3403
$GC,727,-0.77,-146.6,50.7,-6.7,85,731,0.00,2.25,0.00,0.000,4,0.000,0.042,2556,843,3404
$GC,765,-0.77,-146.6,53.5,-7.1,88,771,0.00,2.28,0.00,0.000,6,0.000,0.038,2554,2245,3404
$GC,1093,-0.77,-146.6,75.1,-6.8,119,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2245,3404
$STATE,1394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1394,begin apogee
$GC,1401,-0.28,0.0,95.1,6.2,148,1518,0.52,0.00,111.28,0.752,6,0.107,0.000,2723,2137,2800
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1521,0.77,146.6,97.8,0.0,160,1640,1.02,2.40,110.50,0.698,4,0.078,0.046,3068,769,2201
$GC,1681,0.77,146.6,90.0,6.7,175,1685,0.00,2.35,0.00,0.000,6,0.000,0.038,3068,2155,2201
$GC,2007,0.77,146.6,66.3,7.3,205,2011,0.00,2.38,0.00,0.000,4,0.000,0.052,3068,3569,2199
$GC,2046,0.77,146.6,63.0,8.1,208,2050,0.00,2.30,0.00,0.000,6,0.000,0.034,3079,2159,2199
$GC,2373,0.77,146.6,38.3,7.6,238,2377,0.00,2.33,0.00,0.000,4,0.000,0.047,3082,740,2199
$GC,2412,0.77,146.6,35.2,7.1,241,2416,0.00,2.33,0.00,0.000,6,0.000,0.039,3082,2163,2199
$GC,2615,0.77,146.6,20.7,7.1,260,2619,0.00,2.33,0.00,0.000,4,0.000,0.054,3082,3564,2198
$GC,2650,0.77,146.6,18.1,7.5,264,2657,0.00,2.30,0.00,0.000,6,0.000,0.035,3092,2142,2198
$GC,2725,0.77,146.6,12.6,6.9,277,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2142,2198
$GC,2799,0.77,146.6,7.5,7.0,290,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2142,2198
$GC,2873,0.77,146.6,3.0,5.9,303,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2142,2198
$STATE,2911,end climb,SURFACE_DEPTH_REACHED
$STATE,2911,begin surface coast
$FINISH,0.7,1.023942
$STATE,2985,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,3003,79.35,0.696,0,0,1577,300.00
$SM_GC,1.62,0.00,0.00,79.35,0.000,0.000,0.696,4,2263,1577,-8.81,0.37,300.00
$IRIDIUM_FIX,4751.72,-12230.75,180907,080808
$TT8_MAMPS,0.026078
$HUMID,1847
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,42.7
$24V_AH,24.5,31.896
$10V_AH,10.7,15.755
$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,20.650,28.275,221.775,79.350,0.000,37.185,36.294,99.105,0.500,0.000,0.000,14.027,544.369,1516.141,340.799,668.271,299.374,33.328,690.351,0.000,679.920,0.000,2.514
$DEVICE_MAMPS,210.158,66.729,752.427,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.070,252.193,544.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15984,323
$CFSIZE,260165632,249180160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,063345,4806.963,-12222.975,10,1.7,11,18.3