version: 66.02
glider: 128
mission: 2
dive: 198
start: 9 13 107 15 1 35
data:
$ID,128
$MISSION,2
$DIVE,198
$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,-63238.016
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,145531,4805.165,-12220.844,60,1.4,61,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,150033,4805.168,-12220.877,11,1.6,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.059,-0.058
$KALMAN_X,15241.3,235.4,-102.4,-11644.9,73.7
$KALMAN_Y,8259.1,-191.6,204.3,-14382.8,-89.7
$MHEAD_RNG_PITCHd_Wd,207.3,347,-27.6,-5.026
$D_GRID,108
$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,19,begin dive
$GC,21,-1.24,-29.3,0.0,0.0,0,82,0.00,0.00,-55.30,0.000,6,0.000,0.000,15,2266,2919
$GC,85,-1.26,-48.1,3.0,-2.8,11,104,10.00,2.33,-1.70,0.000,4,0.223,0.060,2400,3648,2999
$GC,361,-1.26,-48.1,25.7,-6.0,51,368,0.00,2.28,0.00,0.000,6,0.000,0.029,2400,2225,3001
$GC,559,-1.26,-48.1,36.5,-5.4,70,563,0.00,2.35,0.00,0.000,4,0.000,0.047,2389,3643,3001
$GC,677,-1.26,-48.1,42.9,-5.7,80,680,0.00,2.17,0.00,0.000,6,0.000,0.028,2389,2243,3002
$GC,879,-1.26,-49.9,52.9,-4.8,99,883,0.00,2.20,0.00,0.000,4,0.000,0.038,2389,856,3002
$GC,934,-1.27,-54.4,55.6,-4.5,103,942,0.08,2.22,-0.15,0.000,6,0.158,0.034,2404,2239,3028
$GC,1259,-1.27,-54.4,72.0,-5.2,134,1263,0.00,2.20,0.00,0.000,4,0.000,0.038,2403,861,3029
$GC,1445,-1.27,-55.6,81.5,-4.9,150,1449,0.00,2.22,0.00,0.000,6,0.000,0.034,2397,2263,3029
$STATE,1725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1725,begin apogee
$GC,1732,-0.22,0.0,95.2,4.9,176,1779,1.12,0.00,43.80,0.854,6,0.134,0.000,2740,2142,2800
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1782,1.27,55.6,96.1,0.0,181,1829,1.42,0.00,43.12,0.694,6,0.076,0.000,3220,2142,2573
$GC,2146,1.27,55.6,66.8,8.5,216,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2142,2572
$GC,2465,1.27,55.6,40.1,8.1,246,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2142,2572
$GC,2656,1.27,55.6,25.5,7.1,264,2660,0.00,2.30,0.00,0.000,4,0.000,0.044,3221,3555,2572
$GC,2751,1.27,55.6,18.0,8.1,274,2758,0.00,2.22,0.00,0.000,6,0.000,0.030,3231,2168,2571
$GC,2826,1.27,55.6,12.4,7.4,287,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2167,2571
$GC,2901,1.27,55.6,7.8,6.1,300,2907,0.00,2.28,0.00,0.000,4,0.000,0.045,3231,3554,2571
$GC,2941,1.27,60.1,6.2,4.5,307,2954,0.00,2.22,4.90,0.644,6,0.000,0.030,3242,2138,2553
$GC,3022,1.34,114.0,7.0,-1.4,321,3068,0.00,2.35,40.55,0.751,4,0.000,0.041,3249,750,2334
$GC,3165,1.36,131.4,3.1,3.0,346,3183,0.00,2.28,13.32,0.758,6,0.000,0.033,3249,2151,2264
$GC,3251,1.40,165.2,2.4,1.0,361,3280,0.00,2.38,20.75,0.686,4,0.000,0.040,3258,754,2125
$STATE,3284,end climb,SURFACE_DEPTH_REACHED
$STATE,3284,begin surface coast
$FINISH,1.1,1.023842
$STATE,3313,end surface coast,CONTROL_FINISHED_OK
$STATE,3314,begin surface
$SM_CCo,3334,63.92,0.647,0,0,1577,300.00
$SM_GC,1.13,0.00,0.00,63.92,0.000,0.000,0.647,9,2257,1577,-8.79,0.20,300.00
$IRIDIUM_FIX,4748.51,-12214.67,130907,171726
$TT8_MAMPS,0.026845
$HUMID,1875
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,42.3
$24V_AH,24.9,24.079
$10V_AH,10.7,10.997
$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,22.325,36.650,166.450,63.925,0.000,40.922,52.700,126.088,0.250,0.000,0.000,13.053,630.425,1706.086,284.584,770.735,332.968,33.339,662.477,0.000,787.674,0.000,2.512
$DEVICE_MAMPS,223.197,59.826,853.671,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,266.217,287.614,627.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19145,372
$CFSIZE,260165632,252141568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,155857,4804.967,-12221.062,7,1.8,8,18.3