version: 66.02
glider: 128
mission: 2
dive: 123
start: 9 10 107 4 48 44
data:
$ID,128
$MISSION,2
$DIVE,123
$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,-61641.949
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,43
$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
$GPS1,044321,4806.048,-12222.113,7,1.2,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.5
$GPS2,044744,4806.039,-12222.116,29,1.1,29,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.151
$KALMAN_X,9956.9,-71.4,20.0,-7703.8,148.0
$KALMAN_Y,3152.8,95.5,-119.1,-7624.3,-81.3
$MHEAD_RNG_PITCHd_Wd,134.3,2368,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,105,0.00,0.00,-82.20,0.000,6,0.000,0.000,9,2230,3398
$GC,107,-0.78,-146.6,3.8,-4.2,15,126,10.52,2.33,0.00,0.000,4,0.219,0.044,2552,3608,3403
$GC,412,-0.78,-146.6,32.4,-7.3,54,416,0.00,2.25,0.00,0.000,6,0.000,0.029,2552,2199,3405
$GC,609,-0.78,-146.6,45.6,-6.5,72,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2198,3404
$GC,800,-0.78,-146.6,57.8,-6.3,90,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2199,3405
$GC,1119,-0.78,-146.6,78.7,-6.3,120,1123,0.00,2.33,0.00,0.000,4,0.000,0.050,2552,3605,3404
$GC,1169,-0.78,-146.6,82.1,-6.5,124,1173,0.00,2.20,0.00,0.000,6,0.000,0.029,2552,2204,3405
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1290,begin apogee
$GC,1294,-0.23,0.0,90.1,6.4,135,1413,0.62,0.00,115.55,0.907,6,0.113,0.000,2746,2199,2800
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1416,0.78,146.6,92.6,0.0,147,1533,1.00,0.00,112.38,0.700,6,0.082,0.000,3067,2199,2202
$GC,1851,0.78,146.6,65.0,7.4,189,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2199,2200
$GC,2169,0.78,146.6,42.2,7.2,219,2173,0.00,2.35,0.00,0.000,4,0.000,0.044,3071,757,2200
$GC,2207,0.78,146.6,39.5,6.9,222,2214,0.00,2.25,0.00,0.000,6,0.000,0.034,3071,2136,2199
$GC,2405,0.78,146.6,25.9,7.0,241,2408,0.00,2.35,0.00,0.000,4,0.000,0.049,3071,3566,2200
$GC,2449,0.78,146.6,22.5,7.3,245,2453,0.00,2.25,0.00,0.000,6,0.000,0.031,3079,2163,2199
$GC,2655,0.78,146.6,8.3,6.8,278,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2162,2199
$GC,2729,0.78,146.6,3.5,6.6,291,2735,0.00,2.30,0.00,0.000,4,0.000,0.044,3081,741,2199
$STATE,2762,end climb,SURFACE_DEPTH_REACHED
$STATE,2762,begin surface coast
$FINISH,0.8,1.025114
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2821,98.25,0.763,0,0,1372,350.04
$SM_GC,1.23,0.00,0.00,98.25,0.000,0.000,0.763,18,2228,1372,-8.76,0.51,350.04
$IRIDIUM_FIX,4748.51,-12217.40,100907,070738
$TT8_MAMPS,0.026845
$HUMID,1836
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,51.1
$24V_AH,24.4,18.391
$10V_AH,10.8,7.484
$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,20.825,23.025,227.925,98.250,0.000,39.216,37.468,96.716,0.250,0.000,0.000,30.620,505.634,1435.812,381.419,631.644,253.381,33.346,695.654,0.000,629.558,0.000,2.521
$DEVICE_MAMPS,218.595,49.855,906.594,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.985,239.889,512.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15938,304
$CFSIZE,260165632,254267392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,053837,4805.725,-12221.832,38,1.0,39,18.3