version: 66.02
glider: 128
mission: 2
dive: 209
start: 9 14 107 3 43 36
data:
$ID,128
$MISSION,2
$DIVE,209
$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,-63491.539
$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,25
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,033756,4807.666,-12223.643,16,1.7,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.0
$GPS2,034235,4807.668,-12223.619,14,2.7,33,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,-0.141
$KALMAN_X,16072.9,-218.9,-123.0,-15390.4,134.7
$KALMAN_Y,9592.7,337.1,113.8,-11518.1,-63.9
$MHEAD_RNG_PITCHd_Wd,136.0,5909,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-146.6,0.0,0.0,0,95,0.00,0.00,-71.03,0.000,2,0.000,0.000,12,2227,3327
$GC,97,-0.60,-146.6,3.3,-3.2,13,116,10.65,2.40,-1.45,0.000,4,0.216,0.060,2609,3648,3399
$GC,419,-0.60,-146.6,26.7,-5.3,59,426,0.00,2.25,0.00,0.000,6,0.000,0.028,2610,2242,3401
$GC,617,-0.60,-146.6,36.7,-5.0,78,621,0.00,2.35,0.00,0.000,4,0.000,0.049,2607,3654,3402
$GC,701,-0.60,-146.6,41.1,-5.2,85,705,0.00,2.20,0.00,0.000,6,0.000,0.028,2607,2245,3402
$GC,898,-0.60,-146.6,51.1,-5.4,103,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2244,3402
$GC,1216,-0.60,-146.6,67.4,-4.8,133,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2244,3402
$GC,1536,-0.60,-146.6,83.1,-5.0,163,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2244,3402
$STATE,1777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1777,begin apogee
$GC,1782,-0.20,0.0,95.5,5.0,186,1900,0.47,0.00,111.43,0.776,6,0.105,0.000,2757,2153,2799
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1903,0.60,146.6,97.5,0.0,198,2021,0.75,0.00,111.20,0.694,6,0.077,0.000,3006,2153,2201
$GC,2338,0.60,146.6,76.7,5.2,240,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2153,2198
$GC,2657,0.60,146.6,59.9,5.3,270,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2153,2198
$GC,2976,0.60,147.7,44.5,5.0,300,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2153,2198
$GC,3167,0.63,168.1,35.7,4.4,318,3190,0.00,2.40,17.17,0.871,4,0.000,0.045,3005,3558,2114
$GC,3228,0.63,168.1,32.5,5.3,323,3235,0.00,2.28,0.00,0.000,6,0.000,0.030,3010,2158,2112
$GC,3426,0.64,175.9,23.0,4.8,342,3439,0.00,2.35,7.60,0.780,4,0.000,0.041,3012,751,2082
$GC,3485,0.65,181.6,20.2,4.9,347,3497,0.00,2.25,6.12,0.728,6,0.000,0.033,3012,2149,2059
$GC,3700,0.65,186.0,9.6,4.9,384,3712,0.00,2.35,4.97,0.661,4,0.000,0.047,3012,3549,2042
$GC,3730,0.66,195.8,8.2,4.7,389,3748,0.00,2.25,9.35,0.786,6,0.000,0.031,3011,2142,2000
$GC,3816,0.71,236.4,4.6,3.8,404,3857,0.12,2.33,30.83,0.690,4,0.064,0.041,3077,761,1835
$STATE,3878,end climb,SURFACE_DEPTH_REACHED
$STATE,3878,begin surface coast
$FINISH,0.6,1.024019
$STATE,3926,end surface coast,CONTROL_FINISHED_OK
$STATE,3926,begin surface
$SM_CCo,3946,37.58,0.682,0,0,1577,300.00
$SM_GC,1.74,0.00,0.00,37.58,0.000,0.000,0.682,8,2255,1577,-8.79,0.11,300.00
$IRIDIUM_FIX,4751.72,-12226.29,140907,060629
$TT8_MAMPS,0.026845
$HUMID,1873
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,41.0
$24V_AH,24.5,24.913
$10V_AH,10.7,11.543
$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,20.825,27.975,298.675,37.575,0.000,40.399,39.445,94.965,0.750,0.000,0.000,35.444,678.012,2089.439,372.063,852.456,293.530,33.347,784.658,0.000,853.722,0.000,2.509
$DEVICE_MAMPS,215.527,62.894,871.312,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.898,338.516,713.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22215,423
$CFSIZE,260165632,251822080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,045045,4807.231,-12223.272,9,1.0,10,18.3