version: 66.02
glider: 128
mission: 2
dive: 213
start: 9 14 107 8 33 53
data:
$ID,128
$MISSION,2
$DIVE,213
$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,-63566.891
$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,45
$R_STBD_OVSHOOT,46
$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
$GPS1,082807,4806.174,-12222.118,33,1.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.5
$GPS2,083251,4806.184,-12222.120,11,1.5,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,-0.151
$KALMAN_X,16466.8,-27.0,115.6,-14359.5,165.5
$KALMAN_Y,9575.5,100.0,-258.3,-13642.7,42.6
$MHEAD_RNG_PITCHd_Wd,145.4,2594,-10.6,-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,-0.60,-146.6,0.0,0.0,0,90,0.00,0.00,-65.80,0.000,2,0.000,0.000,13,2265,3235
$GC,92,-0.60,-146.6,3.7,-3.7,12,112,10.70,2.40,-3.20,0.000,4,0.217,0.050,2619,839,3400
$GC,347,-0.60,-146.6,23.8,-5.2,50,353,0.00,2.30,0.00,0.000,6,0.000,0.034,2619,2244,3403
$GC,545,-0.60,-146.6,33.6,-5.0,69,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2244,3403
$GC,736,-0.60,-146.6,43.1,-4.9,87,740,0.00,2.25,0.00,0.000,4,0.000,0.037,2619,839,3404
$GC,781,-0.60,-146.6,45.3,-4.9,91,785,0.00,2.28,0.00,0.000,6,0.000,0.034,2619,2259,3404
$GC,978,-0.60,-146.6,54.7,-4.7,109,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2259,3404
$GC,1297,-0.60,-146.6,69.6,-4.5,139,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2259,3404
$GC,1617,-0.60,-146.6,84.8,-4.8,169,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2259,3404
$STATE,1847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1847,begin apogee
$GC,1852,-0.20,0.0,95.4,4.5,191,1970,0.43,0.00,111.62,0.763,6,0.100,0.000,2756,2124,2799
$STATE,1971,end apogee,CONTROL_FINISHED_OK
$STATE,1971,begin climb
$GC,1973,0.60,146.6,97.3,0.0,203,2091,0.77,0.00,111.25,0.693,6,0.074,0.000,3012,2124,2201
$GC,2408,0.60,146.6,75.0,5.9,245,2412,0.00,2.40,0.00,0.000,4,0.000,0.046,3012,3554,2199
$GC,2480,0.60,146.6,70.2,6.8,251,2487,0.00,2.25,0.00,0.000,6,0.000,0.029,3019,2165,2199
$GC,2808,0.60,146.6,50.8,5.8,282,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,2198
$GC,3123,0.60,146.6,32.7,5.5,312,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2163,2198
$GC,3314,0.60,146.6,22.7,5.2,330,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2163,2198
$GC,3513,0.61,156.0,13.2,4.7,360,3526,0.00,0.00,8.32,0.788,6,0.000,0.000,3019,2162,2163
$GC,3594,0.62,163.4,9.3,4.8,374,3607,0.00,2.33,7.25,0.779,4,0.000,0.044,3020,3563,2134
$GC,3641,0.64,178.0,7.0,4.6,382,3660,0.00,2.28,12.52,0.787,6,0.000,0.030,3023,2139,2074
$GC,3728,0.71,233.6,4.0,3.3,397,3773,0.00,0.00,41.45,0.687,6,0.000,0.000,3023,2138,1847
$STATE,3800,end climb,SURFACE_DEPTH_REACHED
$STATE,3800,begin surface coast
$FINISH,0.5,1.011285
$STATE,3881,end surface coast,CONTROL_FINISHED_OK
$STATE,3881,begin surface
$SM_CCo,3898,38.97,0.690,0,0,1576,300.00
$SM_GC,1.86,0.00,0.00,38.97,0.000,0.000,0.690,8,2271,1576,-8.79,0.59,300.00
$IRIDIUM_FIX,4748.51,-12224.57,140907,111115
$TT8_MAMPS,0.026845
$HUMID,1849
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,41.6
$24V_AH,24.5,25.220
$10V_AH,10.7,11.747
$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,20.575,18.850,292.425,38.975,0.000,39.263,45.387,113.680,0.750,0.000,0.000,13.370,678.752,2084.642,355.886,808.481,317.989,33.375,753.343,0.000,832.537,0.000,2.513
$DEVICE_MAMPS,217.061,49.855,788.476,689.533,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.504,338.337,715.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22329,424
$CFSIZE,260165632,251707392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,094015,4805.897,-12221.788,8,1.6,9,18.3