version: 66.02
glider: 128
mission: 2
dive: 306
start: 9 18 107 7 38 37
data:
$ID,128
$MISSION,2
$DIVE,306
$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,-66552.688
$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,27
$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
$GPS1,073226,4806.603,-12222.556,8,1.5,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.9
$GPS2,073737,4806.569,-12222.544,16,1.1,32,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,-0.150
$KALMAN_X,22217.9,74.7,-13.5,-20608.4,244.2
$KALMAN_Y,13008.3,-250.9,-129.1,-16140.4,-75.9
$MHEAD_RNG_PITCHd_Wd,144.3,3478,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,92,0.00,0.00,-65.07,0.000,2,0.000,0.000,21,2241,3172
$GC,95,-0.77,-146.6,3.0,-2.7,12,119,10.23,2.35,-5.07,0.000,4,0.209,0.055,2567,842,3400
$GC,423,-0.77,-146.6,29.9,-7.3,58,428,0.00,2.33,0.00,0.000,6,0.000,0.040,2567,2257,3403
$GC,621,-0.77,-146.6,42.8,-6.3,76,625,0.00,2.30,0.00,0.000,4,0.000,0.042,2567,844,3403
$GC,649,-0.77,-146.6,44.7,-7.3,78,653,0.00,2.30,0.00,0.000,6,0.000,0.041,2567,2251,3403
$GC,847,-0.77,-146.6,56.7,-6.0,96,851,0.00,2.35,0.00,0.000,4,0.000,0.055,2565,3664,3402
$GC,879,-0.77,-146.6,58.9,-6.5,98,886,0.00,2.30,0.00,0.000,6,0.000,0.030,2564,2234,3403
$GC,1206,-0.77,-146.6,78.5,-6.1,129,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2233,3402
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1495,-0.28,0.0,95.3,5.6,156,1612,0.50,0.00,111.03,0.755,6,0.110,0.000,2724,2147,2799
$STATE,1613,end apogee,CONTROL_FINISHED_OK
$STATE,1613,begin climb
$GC,1615,0.77,146.6,97.8,0.0,168,1736,1.02,2.42,110.55,0.701,4,0.081,0.045,3067,765,2201
$GC,1753,0.77,146.6,91.2,7.2,181,1759,0.00,2.38,0.00,0.000,6,0.000,0.038,3067,2157,2201
$GC,2081,0.77,146.6,66.8,7.3,212,2085,0.00,2.38,0.00,0.000,4,0.000,0.052,3067,3571,2199
$GC,2110,0.77,146.6,64.5,7.8,214,2114,0.00,2.30,0.00,0.000,6,0.000,0.034,3076,2165,2199
$GC,2436,0.77,146.6,40.2,7.3,244,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2165,2199
$GC,2626,0.77,146.6,26.8,7.0,262,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2165,2199
$GC,2821,0.77,146.6,13.3,6.8,288,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2165,2199
$GC,2895,0.77,146.6,8.5,6.5,301,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2165,2199
$GC,2969,0.77,146.6,4.1,5.9,314,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2165,2198
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3013,begin surface coast
$FINISH,0.9,1.024328
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3053,begin surface
$SM_CCo,3071,72.22,0.702,0,0,1577,300.00
$SM_GC,1.33,0.00,0.00,72.22,0.000,0.000,0.702,13,2272,1577,-8.77,0.62,300.00
$IRIDIUM_FIX,4748.51,-12221.84,180907,101030
$TT8_MAMPS,0.026078
$HUMID,1851
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,47.1
$24V_AH,24.5,32.035
$10V_AH,10.7,15.839
$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,20.450,23.675,221.575,72.225,0.000,39.027,46.102,114.213,0.500,0.000,0.000,33.751,549.258,1575.912,340.355,688.782,323.596,33.329,681.846,0.000,681.437,0.000,2.517
$DEVICE_MAMPS,208.624,65.962,754.728,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.760,255.996,555.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15917,329
$CFSIZE,260165632,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,083207,4806.241,-12222.189,13,1.2,30,18.3