version: 66.02
glider: 128
mission: 2
dive: 196
start: 9 13 107 12 43 18
data:
$ID,128
$MISSION,2
$DIVE,196
$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,-63193.02
$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,48
$R_STBD_OVSHOOT,47
$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
$GPS1,123735,4805.681,-12221.585,9,3.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.4
$GPS2,124217,4805.647,-12221.576,11,2.3,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.147
$KALMAN_X,15014.8,189.4,-49.4,-12286.0,111.8
$KALMAN_Y,8057.1,-32.8,181.8,-13424.7,21.0
$MHEAD_RNG_PITCHd_Wd,141.4,1394,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.64,-146.6,0.0,0.0,0,83,0.00,0.00,-60.33,0.000,2,0.000,0.000,20,2261,3100
$GC,86,-0.64,-146.6,3.5,-3.6,11,111,10.57,2.38,-5.85,0.000,4,0.216,0.064,2599,3639,3401
$GC,414,-0.64,-146.6,28.4,-5.9,56,419,0.00,2.22,0.00,0.000,6,0.000,0.028,2599,2227,3404
$GC,611,-0.64,-146.6,40.0,-5.9,74,615,0.00,2.38,0.00,0.000,4,0.000,0.049,2597,3650,3404
$GC,639,-0.64,-146.6,41.7,-6.2,76,645,0.00,2.20,0.00,0.000,6,0.000,0.028,2597,2245,3404
$GC,836,-0.64,-146.6,52.7,-5.6,95,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2243,3405
$GC,1154,-0.64,-146.6,69.7,-5.4,125,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2242,3405
$GC,1473,-0.64,-146.6,87.8,-5.4,155,1477,0.00,2.30,0.00,0.000,4,0.000,0.048,2597,3650,3405
$GC,1512,-0.64,-146.6,89.9,-5.4,158,1516,0.00,2.20,0.00,0.000,6,0.000,0.028,2597,2237,3405
$STATE,1611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1611,begin apogee
$GC,1617,-0.22,0.0,95.3,5.1,167,1735,0.47,0.00,112.43,0.782,6,0.106,0.000,2746,2156,2800
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1737,0.64,146.6,97.5,0.0,179,1855,0.82,0.00,111.68,0.697,6,0.079,0.000,3019,2156,2202
$GC,2173,0.64,146.6,74.8,5.6,221,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2156,2200
$GC,2491,0.64,146.6,56.4,5.7,251,2495,0.00,2.28,0.00,0.000,4,0.000,0.045,3019,3541,2199
$GC,2529,0.64,146.6,53.9,6.9,254,2536,0.00,2.22,0.00,0.000,6,0.000,0.029,3024,2161,2199
$GC,2857,0.64,146.6,34.7,5.2,285,2861,0.00,2.28,0.00,0.000,4,0.000,0.042,3028,748,2199
$GC,2908,0.64,146.6,31.7,5.5,289,2912,0.00,2.20,0.00,0.000,6,0.000,0.032,3028,2141,2198
$GC,3110,0.65,157.4,21.7,4.7,308,3125,0.00,2.35,9.55,0.809,4,0.000,0.047,3028,3543,2157
$GC,3177,0.65,157.4,17.7,6.4,317,3183,0.00,2.22,0.00,0.000,6,0.000,0.030,3034,2146,2157
$GC,3251,0.65,157.4,13.6,5.7,330,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2145,2157
$GC,3324,0.65,157.4,9.7,5.2,343,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2145,2156
$GC,3398,0.75,238.1,7.5,2.5,356,3466,0.00,2.35,60.33,0.719,4,0.000,0.042,3034,745,1828
$GC,3534,0.82,292.6,2.9,3.3,380,3565,0.15,2.30,24.90,0.699,2,0.064,0.031,3096,2157,1696
$STATE,3565,end climb,SURFACE_DEPTH_REACHED
$STATE,3566,begin surface coast
$FINISH,0.3,1.013771
$STATE,3651,end surface coast,CONTROL_FINISHED_OK
$STATE,3651,begin surface
$SM_CCo,3668,20.60,0.713,0,0,1576,300.00
$SM_GC,1.23,0.00,0.00,20.60,0.000,0.000,0.713,9,2272,1576,-8.79,0.62,300.00
$IRIDIUM_FIX,4745.30,-12159.64,130907,151532
$TT8_MAMPS,0.026845
$HUMID,1877
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,45.7
$24V_AH,24.5,23.942
$10V_AH,10.7,10.900
$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,20.900,32.100,318.875,20.600,0.000,40.266,37.646,103.672,0.500,0.000,0.000,32.909,642.108,1880.504,363.463,813.654,294.975,33.365,774.150,0.000,811.974,0.000,2.517
$DEVICE_MAMPS,215.527,72.098,809.185,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,287.843,311.561,675.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19130,400
$CFSIZE,260165632,252203008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,134550,4805.337,-12221.368,27,1.7,28,18.3