version: 66.02
glider: 128
mission: 2
dive: 309
start: 9 18 107 10 36 21
data:
$ID,128
$MISSION,2
$DIVE,309
$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,-66612.641
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,103052,4805.533,-12221.688,11,2.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.2
$GPS2,103520,4805.517,-12221.684,9,1.3,14,18.3
$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,22682.4,94.0,177.5,-20218.2,152.3
$KALMAN_Y,12947.9,-308.1,-228.9,-17871.3,77.9
$MHEAD_RNG_PITCHd_Wd,136.6,1277,-10.6,-5.026
$D_GRID,110
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-71.43,0.000,2,0.000,0.000,19,2268,3312
$GC,102,-0.77,-146.6,3.2,-2.8,13,120,10.27,2.35,-1.80,0.000,4,0.210,0.055,2563,841,3399
$GC,323,-0.77,-146.6,23.9,-7.2,47,330,0.00,2.30,0.00,0.000,6,0.000,0.041,2563,2244,3400
$GC,521,-0.77,-146.6,37.3,-6.6,66,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2246,3400
$GC,712,-0.77,-146.6,49.6,-6.1,84,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,3401
$GC,903,-0.77,-146.6,61.7,-6.4,102,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2245,3401
$GC,1221,-0.77,-146.6,81.4,-5.9,132,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2245,3400
$STATE,1442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1448,-0.28,0.0,95.2,5.9,153,1565,0.50,0.00,110.82,0.762,6,0.106,0.000,2724,2125,2799
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1569,0.77,146.6,97.8,0.0,165,1688,1.02,2.40,110.50,0.703,4,0.077,0.046,3066,760,2201
$GC,1717,0.77,146.6,90.2,7.7,179,1722,0.00,2.38,0.00,0.000,6,0.000,0.039,3066,2156,2201
$GC,2044,0.77,146.6,66.2,7.4,209,2048,0.00,2.38,0.00,0.000,4,0.000,0.053,3066,3568,2199
$GC,2098,0.77,146.6,61.7,8.3,213,2105,0.00,2.33,0.00,0.000,6,0.000,0.034,3074,2145,2199
$GC,2427,0.77,146.6,38.4,7.2,244,2431,0.00,2.30,0.00,0.000,4,0.000,0.048,3077,740,2199
$GC,2459,0.77,146.6,35.7,7.1,246,2466,0.00,2.35,0.00,0.000,6,0.000,0.039,3077,2159,2199
$GC,2657,0.77,146.6,22.4,6.8,265,2661,0.00,2.33,0.00,0.000,4,0.000,0.053,3077,3563,2199
$GC,2698,0.77,146.6,19.5,7.6,268,2704,0.00,2.30,0.00,0.000,6,0.000,0.035,3083,2140,2198
$GC,2772,0.77,146.6,13.9,7.2,281,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2139,2198
$GC,2846,0.77,146.6,8.9,6.8,294,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2139,2199
$GC,2920,0.77,146.6,3.9,6.7,307,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2139,2198
$STATE,2958,end climb,SURFACE_DEPTH_REACHED
$STATE,2958,begin surface coast
$FINISH,0.7,1.024504
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3017,74.28,0.705,0,0,1576,300.00
$SM_GC,1.08,0.00,0.00,74.28,0.000,0.000,0.705,17,2260,1576,-8.76,0.28,300.00
$IRIDIUM_FIX,4745.30,-12222.84,180907,131305
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.5,44.6
$24V_AH,24.5,32.244
$10V_AH,10.7,15.965
$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,20.425,23.775,221.325,74.275,0.000,39.763,43.338,93.588,0.750,0.000,0.000,15.486,539.578,1548.551,335.552,659.702,300.064,33.324,680.665,0.000,669.755,0.000,2.515
$DEVICE_MAMPS,210.158,55.224,761.631,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.880,250.869,541.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15901,321
$CFSIZE,260165632,249049088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,112839,4805.241,-12221.365,9,1.9,10,18.3