version: 66.02
glider: 128
mission: 2
dive: 70
start: 9 8 107 3 13 58
data:
$ID,128
$MISSION,2
$DIVE,70
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,350
$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,-60569.734
$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,22
$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,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$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,91.800003
$AH0_10V,61.200001
$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
$GPS1,030838,4806.058,-12221.949,8,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.6
$GPS2,031257,4806.062,-12221.948,11,1.3,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.150
$KALMAN_X,5679.0,94.2,66.4,-3432.9,16.6
$KALMAN_Y,1681.9,77.7,-41.2,-6171.5,23.3
$MHEAD_RNG_PITCHd_Wd,133.8,2291,-13.2,-6.000
$D_GRID,108
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,94,0.00,0.00,-71.95,0.000,2,0.000,0.000,4,2146,3217
$GC,96,-0.78,-146.6,3.5,-3.6,13,115,10.55,2.38,-3.75,0.000,4,0.216,0.056,2566,746,3401
$GC,406,-0.78,-146.6,28.6,-6.7,56,413,0.00,2.33,0.00,0.000,6,0.000,0.037,2565,2152,3404
$GC,603,-0.78,-146.6,40.7,-6.1,75,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2152,3404
$GC,795,-0.78,-146.6,52.5,-6.2,93,799,0.00,2.33,0.00,0.000,4,0.000,0.052,2565,3562,3405
$GC,851,-0.78,-146.6,56.0,-6.2,98,855,0.00,2.25,0.00,0.000,6,0.000,0.029,2565,2140,3405
$GC,1175,-0.78,-146.6,76.3,-6.2,128,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2140,3405
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1396,begin apogee
$GC,1401,-0.23,0.0,90.1,6.2,149,1520,0.57,0.00,113.12,0.816,6,0.110,0.000,2745,2073,2799
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1522,0.78,146.6,92.6,0.0,161,1641,1.00,2.45,111.50,0.703,4,0.081,0.046,3075,677,2201
$GC,1680,0.78,146.6,84.6,7.6,176,1684,0.00,2.38,0.00,0.000,6,0.000,0.035,3075,2084,2201
$GC,2005,0.78,146.6,60.7,7.2,206,2009,0.00,2.35,0.00,0.000,4,0.000,0.050,3075,3491,2200
$GC,2066,0.78,146.6,55.8,8.7,211,2070,0.00,2.28,0.00,0.000,6,0.000,0.033,3081,2093,2199
$GC,2395,0.78,146.6,30.9,7.4,242,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2093,2199
$GC,2588,0.78,146.6,17.0,7.3,263,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2093,2199
$GC,2662,0.78,146.6,12.0,6.9,276,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2093,2198
$GC,2735,0.78,146.6,7.1,6.8,289,2741,0.00,2.33,0.00,0.000,4,0.000,0.051,3081,3489,2198
$GC,2758,0.78,146.6,5.5,6.5,293,2764,0.00,2.28,0.00,0.000,6,0.000,0.034,3082,2069,2199
$GC,2832,0.87,220.8,2.3,3.6,306,2851,0.00,0.00,16.42,0.847,2,0.000,0.000,3083,2068,2110
$STATE,2851,end climb,SURFACE_DEPTH_REACHED
$STATE,2851,begin surface coast
$FINISH,0.5,1.023835
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2957,86.95,0.711,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,86.95,0.000,0.000,0.711,15,2168,1372,-8.77,0.51,350.04
$IRIDIUM_FIX,4748.51,-12220.12,080907,060648
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,55.1
$24V_AH,24.4,14.128
$10V_AH,10.8,5.332
$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,20.900,23.525,241.050,86.950,0.000,40.325,46.488,101.522,0.250,0.000,0.000,13.352,539.466,1491.874,359.818,670.240,267.839,33.345,710.582,0.000,684.320,0.000,2.530
$DEVICE_MAMPS,216.294,93.574,846.768,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.348,252.832,548.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15891,325
$CFSIZE,260165632,255733760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,040527,4805.831,-12221.576,10,1.6,11,18.3