version: 66.02
glider: 128
mission: 2
dive: 310
start: 9 18 107 11 34 18
data:
$ID,128
$MISSION,2
$DIVE,310
$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,-66627.484
$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,29
$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
$GPS1,112839,4805.241,-12221.365,9,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.0
$GPS2,113315,4805.230,-12221.356,12,1.9,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.132
$KALMAN_X,22874.7,67.7,162.7,-19965.9,117.5
$KALMAN_Y,12843.8,-289.2,-139.1,-18407.5,74.0
$MHEAD_RNG_PITCHd_Wd,128.9,613,-10.6,-5.026
$D_GRID,109
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-71.47,0.000,2,0.000,0.000,17,2260,3331
$GC,100,-0.77,-146.6,3.3,-3.1,13,119,10.30,2.35,-1.38,0.000,4,0.210,0.055,2563,838,3399
$GC,261,-0.77,-146.6,20.2,-7.1,41,266,0.00,2.33,0.00,0.000,6,0.000,0.041,2563,2247,3401
$GC,459,-0.77,-146.6,33.8,-6.9,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2248,3401
$GC,650,-0.77,-146.6,45.9,-5.9,77,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2248,3401
$GC,841,-0.77,-146.6,58.4,-7.0,95,845,0.00,2.35,0.00,0.000,4,0.000,0.056,2559,3665,3401
$GC,875,-0.77,-146.6,60.9,-7.1,98,879,0.00,2.28,0.00,0.000,6,0.000,0.029,2560,2232,3401
$GC,1199,-0.77,-146.6,81.5,-6.5,128,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2232,3401
$STATE,1409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1409,begin apogee
$GC,1416,-0.28,0.0,95.0,6.1,148,1533,0.52,0.00,110.85,0.761,6,0.111,0.000,2727,2145,2799
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1536,0.77,146.6,97.9,0.0,160,1653,1.02,0.00,111.07,0.703,6,0.080,0.000,3061,2145,2201
$GC,1971,0.77,146.6,70.6,7.5,202,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2145,2199
$GC,2290,0.77,146.6,48.1,7.0,232,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2145,2199
$GC,2481,0.77,146.6,35.9,6.6,250,2485,0.00,2.35,0.00,0.000,4,0.000,0.052,3061,3559,2198
$GC,2549,0.77,146.6,30.9,7.2,256,2553,0.00,2.25,0.00,0.000,6,0.000,0.035,3069,2167,2198
$GC,2748,0.77,146.6,18.0,6.6,276,2754,0.00,2.33,0.00,0.000,4,0.000,0.048,3074,743,2198
$GC,2789,0.77,146.6,15.4,6.4,283,2795,0.00,2.30,0.00,0.000,6,0.000,0.039,3074,2156,2198
$GC,2863,0.77,146.6,10.6,6.3,296,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2156,2198
$GC,2937,0.77,146.6,6.0,6.3,309,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2156,2198
$GC,3012,0.77,146.6,2.1,5.1,322,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2156,2198
$STATE,3021,end climb,SURFACE_DEPTH_REACHED
$STATE,3022,begin surface coast
$FINISH,0.4,1.001314
$STATE,3068,end surface coast,CONTROL_FINISHED_OK
$STATE,3068,begin surface
$SM_CCo,3087,71.38,0.708,0,0,1577,300.00
$SM_GC,1.15,0.00,0.00,71.38,0.000,0.000,0.708,7,2263,1577,-8.80,0.37,300.00
$IRIDIUM_FIX,4745.30,-12222.84,180907,141435
$TT8_MAMPS,0.026845
$HUMID,1852
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,44.1
$24V_AH,24.5,32.314
$10V_AH,10.7,16.007
$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,20.450,18.775,221.925,71.375,0.000,38.949,40.008,106.211,0.500,0.000,0.000,14.219,549.646,1618.858,347.697,635.145,308.822,33.332,670.650,0.000,652.936,0.000,2.515
$DEVICE_MAMPS,210.158,67.496,760.864,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.213,263.974,560.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15978,332
$CFSIZE,260165632,249020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,122807,4805.013,-12220.961,33,1.3,34,18.3