version: 66.02
glider: 128
mission: 2
dive: 242
start: 9 15 107 16 24 45
data:
$ID,128
$MISSION,2
$DIVE,242
$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,-65115.23
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,161908,4807.413,-12223.357,60,1.2,61,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.7
$GPS2,162344,4807.405,-12223.347,11,1.4,28,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.140
$KALMAN_X,17299.7,133.1,-192.1,-16561.8,100.0
$KALMAN_Y,10081.7,-205.7,129.9,-11969.9,-40.6
$MHEAD_RNG_PITCHd_Wd,134.6,5317,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-65.57,0.000,2,0.000,0.000,17,2265,3242
$GC,93,-0.77,-146.6,3.8,-3.8,12,112,10.40,2.35,-3.05,0.000,4,0.216,0.062,2558,3659,3399
$GC,416,-0.77,-146.6,32.5,-7.1,53,422,0.00,2.25,0.00,0.000,6,0.000,0.028,2558,2233,3402
$GC,613,-0.77,-146.6,45.2,-6.3,72,617,0.00,2.38,0.00,0.000,4,0.000,0.051,2554,3653,3402
$GC,723,-0.77,-146.6,53.1,-7.0,81,730,0.00,2.25,0.00,0.000,6,0.000,0.028,2554,2241,3402
$GC,1050,-0.77,-146.6,74.0,-6.5,112,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2240,3402
$GC,1367,-0.77,-146.6,94.8,-6.5,142,1371,0.00,2.20,0.00,0.000,4,0.000,0.040,2553,853,3402
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1383,-0.28,0.0,95.4,6.3,143,1500,0.52,0.00,111.28,0.759,6,0.114,0.000,2721,2155,2799
$STATE,1501,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1504,0.77,146.6,98.3,0.0,155,1624,1.05,2.47,110.82,0.702,4,0.081,0.048,3064,3574,2201
$GC,1674,0.77,146.6,88.9,8.6,171,1681,0.00,2.38,0.00,0.000,6,0.000,0.031,3069,2164,2200
$GC,2002,0.77,146.6,63.5,7.6,202,2006,0.00,2.33,0.00,0.000,4,0.000,0.044,3069,747,2199
$GC,2058,0.77,146.6,59.5,6.1,206,2064,0.00,2.28,0.00,0.000,6,0.000,0.035,3069,2150,2199
$GC,2384,0.77,146.6,36.0,7.4,237,2388,0.00,2.33,0.00,0.000,4,0.000,0.049,3069,3563,2199
$GC,2446,0.77,146.6,31.0,8.1,242,2450,0.00,2.28,0.00,0.000,6,0.000,0.031,3072,2138,2198
$GC,2646,0.77,146.6,17.2,6.7,264,2652,0.00,2.25,0.00,0.000,4,0.000,0.044,3078,744,2198
$GC,2669,0.77,146.6,15.6,6.7,268,2676,0.00,2.28,0.00,0.000,6,0.000,0.036,3078,2154,2198
$GC,2744,0.77,146.6,10.5,6.8,281,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2154,2198
$GC,2818,0.77,146.6,5.7,6.6,294,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2154,2198
$GC,2892,0.81,182.9,2.5,3.9,307,2916,0.00,0.40,21.52,0.795,3,0.000,0.043,3078,1905,2054
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,0.8,1.023525
$STATE,2989,end surface coast,CONTROL_FINISHED_OK
$STATE,2990,begin surface
$SM_CCo,3008,54.72,0.683,0,0,1576,300.00
$SM_GC,1.31,0.00,0.00,54.72,0.000,0.000,0.683,9,2270,1576,-8.79,0.57,300.00
$IRIDIUM_FIX,4748.51,-12221.84,150907,191908
$TT8_MAMPS,0.026845
$HUMID,1861
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,41.0
$24V_AH,24.5,27.448
$10V_AH,10.7,13.129
$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,20.775,33.125,243.625,54.725,0.000,40.764,37.099,97.421,0.250,0.000,0.000,30.373,546.602,1481.562,340.598,708.024,285.871,33.329,701.863,0.000,703.063,0.000,2.510
$DEVICE_MAMPS,215.527,62.127,794.612,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.251,251.649,546.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15912,324
$CFSIZE,260165632,250896384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,171650,4807.113,-12223.097,15,2.0,27,18.3