version: 66.02
glider: 128
mission: 2
dive: 174
start: 9 12 107 11 2 16
data:
$ID,128
$MISSION,2
$DIVE,174
$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,-62679.113
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,35
$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
$GPS1,105705,4805.769,-12221.601,12,2.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.4
$GPS2,110115,4805.754,-12221.605,12,1.2,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.148
$KALMAN_X,13320.6,74.0,27.3,-10592.2,24.2
$KALMAN_Y,7051.3,-128.9,-22.4,-11923.9,138.8
$MHEAD_RNG_PITCHd_Wd,141.9,1585,-10.6,-5.026
$D_GRID,110
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.66,-146.6,0.0,0.0,0,90,0.00,0.00,-65.57,0.000,2,0.000,0.000,5,2234,3225
$GC,92,-0.66,-146.6,3.4,-3.5,12,112,10.62,2.35,-3.83,0.000,4,0.216,0.056,2601,851,3401
$GC,414,-0.66,-146.6,26.4,-5.8,59,421,0.00,2.30,0.00,0.000,6,0.000,0.037,2601,2247,3404
$GC,611,-0.66,-146.6,37.4,-5.4,78,615,0.00,2.28,0.00,0.000,4,0.000,0.040,2601,839,3404
$GC,690,-0.66,-146.6,41.9,-5.6,85,694,0.00,2.28,0.00,0.000,6,0.000,0.035,2601,2263,3405
$GC,892,-0.66,-146.6,52.2,-5.1,104,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2263,3405
$GC,1211,-0.66,-146.6,68.6,-5.0,134,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2263,3404
$GC,1530,-0.66,-146.6,85.1,-4.9,164,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2263,3405
$STATE,1729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1729,begin apogee
$GC,1734,-0.23,0.0,95.4,4.9,183,1852,0.45,0.00,112.07,0.769,6,0.105,0.000,2744,2128,2799
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1855,0.66,146.6,97.5,0.0,195,1973,0.88,0.00,111.80,0.710,6,0.078,0.000,3031,2127,2202
$GC,2290,0.66,146.6,72.3,6.5,237,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2127,2199
$GC,2609,0.66,146.6,52.7,5.9,267,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2127,2199
$GC,2927,0.66,146.6,34.6,5.6,297,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2127,2198
$GC,3118,0.66,146.6,23.0,6.5,315,3122,0.00,2.33,0.00,0.000,4,0.000,0.045,3031,3551,2198
$GC,3170,0.66,146.6,19.2,7.8,320,3177,0.00,2.20,0.00,0.000,6,0.000,0.030,3039,2161,2198
$GC,3245,0.66,146.6,14.2,6.5,333,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2159,2198
$GC,3318,0.66,146.6,9.9,5.8,346,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2159,2198
$GC,3391,0.66,146.6,5.9,5.3,359,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2159,2198
$GC,3465,0.75,218.5,3.7,2.8,372,3522,0.00,2.42,52.35,0.746,4,0.000,0.044,3038,3557,1908
$GC,3551,0.86,310.1,2.1,2.2,387,3559,0.17,2.28,2.97,0.382,2,0.055,0.029,3116,2146,1896
$STATE,3560,end climb,SURFACE_DEPTH_REACHED
$STATE,3560,begin surface coast
$FINISH,0.3,1.002448
$STATE,3662,end surface coast,CONTROL_FINISHED_OK
$STATE,3662,begin surface
$SM_CCo,3679,39.67,0.698,0,0,1576,300.00
$SM_GC,1.38,0.00,0.00,39.67,0.000,0.000,0.698,12,2267,1576,-8.78,0.48,300.00
$IRIDIUM_FIX,4748.51,-12219.12,120907,131359
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,44.4
$24V_AH,24.4,22.282
$10V_AH,10.8,9.801
$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,21.050,18.775,279.200,39.675,0.000,40.881,36.564,93.688,0.500,0.000,0.000,14.045,651.032,1927.585,349.654,790.289,274.818,33.344,738.827,0.000,808.370,0.000,2.515
$DEVICE_MAMPS,215.527,55.991,769.301,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.137,317.856,685.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19099,406
$CFSIZE,260165632,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,120520,4805.542,-12221.235,29,2.0,30,18.3