version: 66.02
glider: 128
mission: 2
dive: 190
start: 9 13 107 5 52 6
data:
$ID,128
$MISSION,2
$DIVE,190
$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,-63080.066
$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,23
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,054626,4807.244,-12223.141,39,1.2,58,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.3
$GPS2,055105,4807.261,-12223.157,11,2.4,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.141
$KALMAN_X,14444.6,-135.4,19.5,-13417.4,163.2
$KALMAN_Y,7557.4,338.3,-60.8,-10065.8,-133.2
$MHEAD_RNG_PITCHd_Wd,135.6,4966,-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,21,-0.64,-146.6,0.0,0.0,0,89,0.00,0.00,-65.68,0.000,2,0.000,0.000,7,2270,3230
$GC,91,-0.64,-146.6,3.8,-3.8,12,111,10.57,2.38,-3.42,0.000,4,0.215,0.061,2596,3648,3402
$GC,230,-0.64,-146.6,17.2,-6.3,36,236,0.00,2.28,0.00,0.000,6,0.000,0.028,2596,2226,3403
$GC,303,-0.64,-146.6,21.4,-5.6,47,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2225,3404
$GC,494,-0.64,-146.6,31.6,-5.3,65,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2225,3404
$GC,685,-0.64,-146.6,42.0,-5.5,83,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2225,3404
$GC,876,-0.64,-146.6,52.4,-5.7,101,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2225,3405
$GC,1194,-0.64,-146.6,69.5,-5.6,131,1198,0.00,2.35,0.00,0.000,4,0.000,0.048,2595,3652,3405
$GC,1245,-0.64,-146.6,72.3,-5.5,135,1251,0.00,2.20,0.00,0.000,6,0.000,0.028,2595,2244,3405
$GC,1570,-0.64,-146.6,90.2,-5.5,166,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2243,3404
$STATE,1663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1668,-0.22,0.0,95.4,5.5,175,1786,0.47,0.00,111.90,0.767,6,0.105,0.000,2745,2137,2799
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1789,0.64,146.6,97.5,0.0,187,1907,0.85,0.00,111.62,0.703,6,0.080,0.000,3022,2136,2201
$GC,2224,0.64,146.6,74.4,6.2,229,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2137,2199
$GC,2543,0.64,146.6,54.4,6.4,259,2547,0.00,2.33,0.00,0.000,4,0.000,0.045,3022,3545,2198
$GC,2587,0.64,146.6,51.4,6.7,263,2591,0.00,2.22,0.00,0.000,6,0.000,0.031,3025,2157,2198
$GC,2914,0.64,146.6,31.9,5.9,293,2918,0.00,2.28,0.00,0.000,4,0.000,0.044,3025,750,2198
$GC,2954,0.64,146.6,29.6,5.3,296,2958,0.00,2.22,0.00,0.000,6,0.000,0.032,3025,2149,2198
$GC,3151,0.64,146.6,19.0,5.2,315,3157,0.00,2.28,0.00,0.000,4,0.000,0.045,3025,3548,2198
$GC,3180,0.64,146.6,17.3,5.3,320,3187,0.00,2.25,0.00,0.000,6,0.000,0.030,3025,2139,2198
$GC,3255,0.64,146.6,13.4,5.1,333,3261,0.00,2.22,0.00,0.000,4,0.000,0.042,3026,755,2198
$GC,3301,0.64,146.6,11.1,5.0,341,3307,0.00,2.22,0.00,0.000,6,0.000,0.032,3026,2160,2198
$GC,3375,0.65,156.9,7.7,4.7,354,3393,0.00,2.33,8.80,0.795,4,0.000,0.045,3027,3554,2160
$GC,3495,0.71,204.3,3.1,3.6,375,3536,0.00,2.22,34.88,0.742,6,0.000,0.029,3026,2141,1966
$STATE,3545,end climb,SURFACE_DEPTH_REACHED
$STATE,3545,begin surface coast
$FINISH,0.3,1.013376
$STATE,3648,end surface coast,CONTROL_FINISHED_OK
$STATE,3648,begin surface
$SM_CCo,3665,47.45,0.689,0,0,1577,300.00
$SM_GC,1.75,0.00,0.00,47.45,0.000,0.000,0.689,12,2263,1577,-8.78,0.37,300.00
$IRIDIUM_FIX,4751.72,-12226.29,130907,080823
$TT8_MAMPS,0.026845
$HUMID,1855
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,39.3
$24V_AH,24.5,23.494
$10V_AH,10.7,10.609
$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,20.525,32.075,267.200,47.450,0.000,40.663,37.404,99.491,0.250,0.000,0.000,33.246,652.493,1926.437,357.221,787.541,291.721,33.352,746.995,0.000,791.297,0.000,2.508
$DEVICE_MAMPS,214.760,61.360,795.379,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.235,318.637,678.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19146,402
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,065446,4806.912,-12222.758,11,2.0,12,18.3