version: 66.02
glider: 128
mission: 2
dive: 141
start: 9 10 107 22 10 11
data:
$ID,128
$MISSION,2
$DIVE,141
$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,-62042.031
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,220104,4807.774,-12223.660,44,1.6,45,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.9
$GPS2,220909,4807.745,-12223.623,11,1.5,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,-0.149
$KALMAN_X,11387.5,36.1,-21.2,-11066.2,67.4
$KALMAN_Y,4330.5,196.7,98.9,-5958.3,168.1
$MHEAD_RNG_PITCHd_Wd,143.5,6032,-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,18,begin dive
$GC,20,-0.66,-146.6,0.0,0.0,0,95,0.00,0.00,-72.18,0.000,2,0.000,0.000,12,2200,3349
$GC,97,-0.66,-146.6,3.0,-2.7,13,116,10.57,2.38,-0.98,0.000,4,0.214,0.057,2592,3613,3398
$GC,419,-0.66,-146.6,27.7,-5.8,58,425,0.00,2.22,0.00,0.000,6,0.000,0.028,2592,2200,3400
$GC,615,-0.66,-146.6,38.9,-5.6,77,619,0.00,2.35,0.00,0.000,4,0.000,0.048,2590,3616,3401
$GC,806,-0.66,-146.6,49.9,-5.7,93,812,0.00,2.20,0.00,0.000,6,0.000,0.028,2590,2208,3401
$GC,1003,-0.66,-146.6,60.6,-5.4,112,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,3401
$GC,1321,-0.66,-146.6,77.7,-5.6,142,1325,0.00,2.30,0.00,0.000,4,0.000,0.048,2590,3612,3401
$GC,1405,-0.66,-146.6,82.7,-6.2,149,1412,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,2208,3401
$STATE,1632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1632,begin apogee
$GC,1636,-0.23,0.0,95.1,5.2,171,1755,0.50,0.00,111.90,0.771,6,0.109,0.000,2747,2204,2799
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1758,0.66,146.6,96.9,0.0,183,1876,0.90,0.00,111.82,0.700,6,0.082,0.000,3034,2204,2200
$GC,2193,0.66,146.6,71.5,6.5,225,2197,0.00,2.35,0.00,0.000,4,0.000,0.041,3040,763,2198
$GC,2238,0.66,146.6,68.6,6.9,229,2242,0.00,2.25,0.00,0.000,6,0.000,0.032,3040,2156,2199
$GC,2565,0.66,146.6,47.8,6.5,259,2569,0.00,2.30,0.00,0.000,4,0.000,0.046,3040,3555,2198
$GC,2604,0.66,146.6,44.7,7.5,262,2608,0.00,2.22,0.00,0.000,6,0.000,0.030,3047,2157,2198
$GC,2801,0.66,146.6,32.0,6.1,280,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2156,2198
$GC,2992,0.66,146.6,20.9,5.8,298,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2156,2198
$GC,3194,0.66,146.6,9.1,6.1,332,3200,0.00,2.28,0.00,0.000,4,0.000,0.042,3051,744,2197
$GC,3239,0.66,146.6,6.5,5.5,340,3246,0.00,2.25,0.00,0.000,6,0.000,0.032,3051,2161,2197
$GC,3314,0.68,161.8,3.0,4.6,353,3332,0.00,2.30,11.12,0.821,4,0.000,0.046,3051,3561,2140
$STATE,3342,end climb,SURFACE_DEPTH_REACHED
$STATE,3342,begin surface coast
$FINISH,1.7,1.025202
$STATE,3348,end surface coast,CONTROL_FINISHED_OK
$STATE,3348,begin surface
$SM_CCo,3367,68.70,0.691,0,0,1577,300.00
$SM_GC,1.62,0.00,0.00,68.70,0.000,0.000,0.691,3,2197,1577,-8.81,-0.37,300.00
$IRIDIUM_FIX,4751.72,-12226.29,110907,020234
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,39.2
$24V_AH,24.4,19.789
$10V_AH,10.8,8.233
$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,20.750,31.775,234.850,68.700,0.000,79.140,170.452,98.628,0.250,0.000,0.000,12.498,601.572,1803.405,357.540,739.157,444.636,33.337,725.857,0.000,757.426,0.000,2.509
$DEVICE_MAMPS,213.993,56.758,821.457,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.649,284.544,605.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19088,359
$CFSIZE,260165632,253779968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,230908,4807.490,-12223.572,65,1.0,66,18.3