version: 66.02
glider: 128
mission: 2
dive: 305
start: 9 18 107 6 39 4
data:
$ID,128
$MISSION,2
$DIVE,305
$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,-66518.312
$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,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,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
$GPS1,063345,4806.963,-12222.975,10,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.1
$GPS2,063803,4806.938,-12222.968,11,1.8,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.143
$KALMAN_X,21943.6,119.3,-62.3,-20852.2,201.6
$KALMAN_Y,12946.9,-177.2,2.2,-15600.6,-120.1
$MHEAD_RNG_PITCHd_Wd,137.2,4338,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-65.88,0.000,2,0.000,0.000,4,2263,3208
$GC,96,-0.77,-146.6,3.3,-3.0,12,116,10.35,2.42,-4.07,0.000,4,0.210,0.056,2564,841,3400
$GC,347,-0.77,-146.6,25.2,-7.1,50,351,0.00,2.33,0.00,0.000,6,0.000,0.041,2564,2252,3402
$GC,544,-0.77,-146.6,37.7,-5.9,68,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2252,3403
$GC,735,-0.77,-146.6,49.7,-6.2,86,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2252,3403
$GC,926,-0.77,-146.6,61.6,-6.4,104,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2252,3403
$GC,1245,-0.77,-146.6,81.6,-6.3,134,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2253,3404
$STATE,1465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1472,-0.28,0.0,95.2,5.6,155,1589,0.50,0.00,111.07,0.755,6,0.106,0.000,2728,2132,2799
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1592,0.77,146.6,97.7,0.0,167,1710,1.00,2.38,110.68,0.699,4,0.077,0.047,3065,761,2202
$GC,1747,0.77,146.6,90.3,7.1,181,1751,0.00,2.38,0.00,0.000,6,0.000,0.038,3065,2158,2201
$GC,2073,0.77,146.6,66.3,7.5,211,2077,0.00,2.35,0.00,0.000,4,0.000,0.052,3065,3560,2199
$GC,2105,0.77,146.6,63.5,8.1,213,2112,0.00,2.30,0.00,0.000,6,0.000,0.034,3074,2168,2199
$GC,2434,0.77,146.6,39.7,7.0,244,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2168,2198
$GC,2631,0.77,146.6,25.7,6.9,263,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2168,2198
$GC,2831,0.77,146.6,12.4,6.5,291,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2168,2198
$GC,2904,0.77,146.6,7.5,6.4,304,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2168,2198
$GC,2978,0.77,146.6,3.6,5.1,317,2984,0.00,2.33,0.00,0.000,4,0.000,0.052,3073,3560,2198
$STATE,3011,end climb,SURFACE_DEPTH_REACHED
$STATE,3011,begin surface coast
$FINISH,1.1,1.024289
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3066,72.53,0.696,0,0,1576,300.00
$SM_GC,1.36,0.00,0.00,72.53,0.000,0.000,0.696,21,2241,1576,-8.75,-0.23,300.00
$IRIDIUM_FIX,4748.51,-12226.29,180907,090951
$TT8_MAMPS,0.026078
$HUMID,1867
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,40.3
$24V_AH,24.5,31.965
$10V_AH,10.7,15.797
$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,20.575,18.800,221.750,72.525,0.000,38.330,38.540,92.609,0.750,0.000,0.000,13.048,546.901,1597.480,333.302,653.281,289.874,33.329,661.703,0.000,666.823,0.000,2.509
$DEVICE_MAMPS,210.158,55.991,754.728,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.811,258.105,555.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,329
$CFSIZE,260165632,249155584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,073226,4806.603,-12222.556,8,1.5,26,18.3