version: 66.02
glider: 128
mission: 2
dive: 140
start: 9 10 107 20 59 47
data:
$ID,128
$MISSION,2
$DIVE,140
$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,70
$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,-62028.902
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,205438,4807.771,-12223.588,29,1.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.5
$GPS2,205845,4808.003,-12223.899,12,1.8,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,-0.150
$KALMAN_X,11146.1,70.1,30.7,-11250.2,5.4
$KALMAN_Y,4450.9,117.3,-39.9,-5386.8,279.3
$MHEAD_RNG_PITCHd_Wd,144.1,6619,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-146.6,0.0,0.0,0,94,0.00,0.00,-71.38,0.000,2,0.000,0.000,14,2216,3364
$GC,97,-0.66,-146.6,3.8,-3.7,13,116,10.57,2.30,-0.68,0.000,4,0.215,0.054,2600,819,3401
$GC,418,-0.66,-146.6,29.9,-6.0,55,425,0.00,2.28,0.00,0.000,6,0.000,0.034,2597,2212,3402
$GC,615,-0.66,-146.6,40.9,-5.7,74,619,0.00,2.28,0.00,0.000,4,0.000,0.038,2597,806,3402
$GC,704,-0.66,-146.6,46.3,-5.9,81,711,0.00,2.28,0.00,0.000,6,0.000,0.033,2597,2206,3402
$GC,902,-0.66,-146.6,57.2,-5.6,100,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3403
$GC,1220,-0.66,-146.6,74.1,-5.2,130,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3403
$GC,1539,-0.66,-146.6,90.5,-5.1,160,1543,0.00,2.30,0.00,0.000,4,0.000,0.048,2596,3620,3403
$GC,1571,-0.66,-146.6,92.4,-5.4,162,1579,0.00,2.22,0.00,0.000,6,0.000,0.028,2595,2203,3403
$STATE,1630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1630,begin apogee
$GC,1634,-0.23,0.0,95.4,5.3,168,1753,0.47,0.00,112.32,0.773,6,0.107,0.000,2745,2200,2799
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1755,0.66,146.6,97.6,0.0,180,1872,0.85,0.00,111.60,0.700,6,0.081,0.000,3023,2200,2202
$GC,2187,0.66,146.6,74.9,5.6,221,2191,0.00,2.33,0.00,0.000,4,0.000,0.041,3028,773,2200
$GC,2215,0.66,146.6,73.2,6.1,223,2221,0.00,2.22,0.00,0.000,6,0.000,0.033,3029,2154,2200
$GC,2539,0.66,146.6,53.4,6.2,254,2543,0.00,2.30,0.00,0.000,4,0.000,0.045,3029,3558,2199
$GC,2579,0.66,146.6,50.6,7.2,257,2583,0.00,2.22,0.00,0.000,6,0.000,0.030,3033,2159,2199
$GC,2904,0.66,146.6,31.7,5.5,287,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2158,2199
$GC,3094,0.66,146.6,20.8,5.5,305,3098,0.00,2.28,0.00,0.000,4,0.000,0.042,3036,745,2199
$GC,3139,0.66,146.6,18.3,5.5,311,3146,0.00,2.25,0.00,0.000,6,0.000,0.032,3036,2158,2199
$GC,3213,0.66,146.6,14.2,5.3,324,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2159,2199
$GC,3286,0.66,146.6,10.2,5.5,337,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2159,2198
$GC,3360,0.66,146.9,6.4,5.0,350,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2159,2199
$GC,3434,0.68,160.6,3.0,4.6,363,3452,0.00,2.33,10.45,0.814,4,0.000,0.046,3036,3554,2145
$STATE,3462,end climb,SURFACE_DEPTH_REACHED
$STATE,3462,begin surface coast
$FINISH,0.7,1.023591
$STATE,3513,end surface coast,CONTROL_FINISHED_OK
$STATE,3514,begin surface
$SM_CCo,3532,65.47,0.703,0,0,1577,300.00
$SM_GC,1.83,0.00,0.00,65.47,0.000,0.000,0.703,11,2201,1577,-8.78,-0.25,300.00
$IRIDIUM_FIX,4751.72,-12221.84,100907,232336
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,24.4,19.711
$10V_AH,10.8,8.185
$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,20.625,31.750,234.375,65.475,0.000,38.359,44.328,88.137,1.500,0.000,0.000,13.617,630.519,1838.583,353.797,771.339,276.134,33.333,745.837,0.000,787.492,0.000,11.225
$DEVICE_MAMPS,214.760,53.690,813.787,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.600,300.043,636.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19067,377
$CFSIZE,260165632,253804544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,220104,4807.774,-12223.660,44,1.6,45,18.3