version: 66.02
glider: 128
mission: 2
dive: 212
start: 9 14 107 7 19 59
data:
$ID,128
$MISSION,2
$DIVE,212
$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,-63552.891
$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,43
$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
$GPS1,071432,4806.542,-12222.369,13,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.5
$GPS2,071857,4806.556,-12222.400,11,1.5,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.150
$KALMAN_X,16413.3,-94.2,59.4,-14530.2,201.9
$KALMAN_Y,9601.8,185.4,-255.4,-13072.0,-53.0
$MHEAD_RNG_PITCHd_Wd,144.9,3363,-10.6,-5.026
$D_GRID,107
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-60.55,0.000,2,0.000,0.000,13,2272,3087
$GC,87,-0.60,-146.6,3.2,-2.9,11,112,10.60,2.35,-6.60,0.000,4,0.212,0.050,2622,840,3399
$GC,231,-0.60,-146.6,15.5,-5.5,36,238,0.00,2.28,0.00,0.000,6,0.000,0.035,2622,2241,3401
$GC,306,-0.60,-146.6,19.5,-5.1,49,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2242,3401
$GC,381,-0.60,-146.6,23.5,-5.0,57,385,0.00,2.35,0.00,0.000,4,0.000,0.049,2622,3660,3402
$GC,402,-0.60,-146.6,24.6,-5.1,58,409,0.00,2.28,0.00,0.000,6,0.000,0.028,2623,2236,3402
$GC,600,-0.60,-146.6,34.3,-5.0,77,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2233,3402
$GC,791,-0.60,-146.6,43.2,-4.8,95,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2233,3402
$GC,982,-0.60,-146.6,52.2,-4.7,113,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2234,3402
$GC,1300,-0.60,-146.6,67.5,-4.7,143,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2234,3402
$GC,1620,-0.60,-146.6,82.2,-4.8,173,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2233,3403
$STATE,1903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1903,begin apogee
$GC,1909,-0.20,0.0,95.4,4.4,200,2026,0.43,0.00,111.75,0.774,6,0.104,0.000,2756,2144,2799
$STATE,2027,end apogee,CONTROL_FINISHED_OK
$STATE,2027,begin climb
$GC,2029,0.60,146.6,97.3,0.0,212,2145,0.75,0.00,110.72,0.693,6,0.078,0.000,3004,2144,2202
$GC,2462,0.60,146.6,76.0,5.6,253,2466,0.00,2.35,0.00,0.000,4,0.000,0.046,3004,3555,2200
$GC,2500,0.60,146.6,73.5,6.8,256,2507,0.00,2.28,0.00,0.000,6,0.000,0.030,3007,2158,2199
$GC,2828,0.60,146.6,55.1,5.3,287,2832,0.00,2.28,0.00,0.000,4,0.000,0.041,3008,755,2199
$GC,2868,0.60,146.6,52.8,5.8,290,2872,0.00,2.25,0.00,0.000,6,0.000,0.033,3008,2155,2199
$GC,3194,0.61,152.2,36.1,4.9,320,3206,0.00,2.30,5.78,0.707,4,0.000,0.046,3008,3554,2178
$GC,3233,0.61,152.2,33.7,5.8,323,3240,0.00,2.28,0.00,0.000,6,0.000,0.030,3010,2144,2178
$GC,3430,0.61,152.2,23.1,5.8,342,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2144,2178
$GC,3629,0.63,164.3,13.2,4.6,372,3642,0.00,0.00,10.57,0.837,6,0.000,0.000,3010,2142,2130
$GC,3710,0.63,165.2,9.2,5.0,386,3716,0.00,2.35,0.00,0.000,4,0.000,0.048,3010,3561,2129
$GC,3774,0.63,165.2,6.0,5.1,397,3781,0.00,2.25,0.00,0.000,6,0.000,0.030,3010,2146,2129
$GC,3849,0.70,228.4,3.5,3.1,410,3896,0.10,0.00,44.22,0.725,2,0.073,0.000,3060,2144,1885
$STATE,3897,end climb,SURFACE_DEPTH_REACHED
$STATE,3897,begin surface coast
$FINISH,0.4,1.004254
$STATE,3964,end surface coast,CONTROL_FINISHED_OK
$STATE,3964,begin surface
$SM_CCo,3981,37.10,0.687,0,0,1576,300.00
$SM_GC,1.72,0.00,0.00,37.10,0.000,0.000,0.687,13,2265,1576,-8.77,0.42,300.00
$IRIDIUM_FIX,4748.51,-12219.12,140907,101038
$TT8_MAMPS,0.026078
$HUMID,1868
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.4,40.7
$24V_AH,24.5,25.143
$10V_AH,10.7,11.696
$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,20.650,27.850,283.050,37.100,0.000,41.322,42.052,96.313,1.000,0.000,0.000,13.039,697.378,2122.844,341.531,841.567,304.542,33.355,767.538,0.000,859.702,0.000,2.509
$DEVICE_MAMPS,212.459,64.428,836.797,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.904,338.820,725.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22200,430
$CFSIZE,260165632,251731968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,082807,4806.174,-12222.118,33,1.0,34,18.3