version: 66.02
glider: 128
mission: 2
dive: 240
start: 9 15 107 14 17 40
data:
$ID,128
$MISSION,2
$DIVE,240
$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,-65069.332
$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,18
$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,40
$R_STBD_OVSHOOT,34
$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
$GPS1,140837,4807.950,-12223.960,13,0.9,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.2
$GPS2,141639,4807.953,-12223.966,12,1.1,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.129
$KALMAN_X,17007.2,118.2,-28.4,-17183.0,-110.9
$KALMAN_Y,10292.2,-412.1,142.2,-10971.4,145.6
$MHEAD_RNG_PITCHd_Wd,126.8,6586,-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,22,-0.77,-146.6,0.0,0.0,0,95,0.00,0.00,-70.97,0.000,2,0.000,0.000,2,2252,3348
$GC,98,-0.77,-146.6,3.5,-3.2,13,117,10.40,2.35,-0.98,0.000,4,0.212,0.059,2556,3653,3400
$GC,420,-0.77,-146.6,30.6,-6.0,55,427,0.00,2.28,0.00,0.000,6,0.000,0.028,2556,2233,3402
$GC,617,-0.77,-146.6,42.4,-5.8,74,621,0.00,2.38,0.00,0.000,4,0.000,0.050,2553,3661,3402
$GC,672,-0.77,-146.6,45.8,-6.2,78,679,0.00,2.25,0.00,0.000,6,0.000,0.028,2553,2244,3402
$GC,870,-0.77,-146.6,57.9,-6.1,97,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2244,3402
$GC,1190,-0.77,-146.6,77.3,-6.1,127,1194,0.00,2.33,0.00,0.000,4,0.000,0.050,2552,3651,3402
$GC,1219,-0.77,-146.6,79.4,-6.8,129,1223,0.00,2.20,0.00,0.000,6,0.000,0.028,2552,2242,3402
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1483,-0.28,0.0,95.5,6.2,153,1601,0.57,0.00,111.28,0.754,6,0.110,0.000,2732,2148,2799
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1604,0.77,146.6,97.9,0.0,165,1723,1.00,2.45,110.97,0.700,4,0.079,0.048,3061,3550,2201
$GC,1747,0.77,146.6,90.6,7.9,179,1751,0.00,2.30,0.00,0.000,6,0.000,0.030,3066,2168,2200
$GC,2075,0.77,146.6,65.5,7.4,209,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2168,2198
$GC,2399,0.77,146.6,41.7,7.2,240,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2168,2198
$GC,2590,0.77,146.6,28.3,6.9,258,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2168,2198
$GC,2787,0.77,146.6,15.3,6.7,282,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2168,2197
$GC,2861,0.77,146.6,10.6,6.4,295,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2168,2197
$GC,2935,0.77,146.6,6.2,5.8,308,2941,0.00,2.30,0.00,0.000,4,0.000,0.048,3067,3561,2197
$GC,2987,0.78,155.2,3.8,4.8,317,3000,0.00,2.25,6.53,0.713,6,0.000,0.031,3067,2138,2167
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3038,begin surface coast
$FINISH,0.5,1.024277
$STATE,3115,end surface coast,CONTROL_FINISHED_OK
$STATE,3115,begin surface
$SM_CCo,3132,67.93,0.687,0,0,1576,300.00
$SM_GC,1.66,0.00,0.00,67.93,0.000,0.000,0.687,15,2263,1576,-8.77,0.37,300.00
$IRIDIUM_FIX,4801.38,-11825.51,150907,181829
$TT8_MAMPS,0.026078
$HUMID,1881
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,48.9
$24V_AH,24.6,27.293
$10V_AH,10.8,13.039
$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,20.650,23.375,228.775,67.925,0.000,76.440,132.165,125.214,0.250,0.000,0.000,14.408,564.779,1660.887,350.433,682.419,449.176,33.329,691.790,0.000,699.125,0.000,2.523
$DEVICE_MAMPS,212.459,65.962,753.961,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.729,263.184,572.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16001,339
$CFSIZE,260165632,250953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,151310,4807.706,-12223.678,93,1.7,93,18.3