version: 66.02
glider: 128
mission: 2
dive: 243
start: 9 15 107 17 25 58
data:
$ID,128
$MISSION,2
$DIVE,243
$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,-65130.48
$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,35
$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
$GPS1,171650,4807.113,-12223.097,15,2.0,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.4
$GPS2,172457,4807.068,-12223.085,11,1.4,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.140
$KALMAN_X,17264.7,192.9,-163.6,-16290.3,130.1
$KALMAN_Y,9977.9,-108.5,39.3,-12497.0,-68.4
$MHEAD_RNG_PITCHd_Wd,134.5,4618,-10.6,-5.026
$D_GRID,103
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-59.88,0.000,2,0.000,0.000,9,2270,3071
$GC,87,-0.77,-146.6,3.1,-2.7,11,112,10.32,2.38,-7.45,0.000,4,0.210,0.054,2566,836,3399
$GC,415,-0.77,-146.6,28.4,-6.3,58,419,0.00,2.30,0.00,0.000,6,0.000,0.036,2566,2251,3402
$GC,612,-0.77,-146.6,40.0,-4.9,76,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2252,3402
$GC,803,-0.77,-146.6,50.9,-5.5,94,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2252,3403
$GC,1122,-0.77,-146.6,69.8,-6.3,124,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2252,3403
$GC,1441,-0.77,-146.6,88.2,-6.1,154,1445,0.00,2.28,0.00,0.000,4,0.000,0.040,2567,833,3403
$GC,1491,-0.77,-146.6,91.5,-6.5,158,1495,0.00,2.28,0.00,0.000,6,0.000,0.038,2566,2251,3403
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1554,-0.28,0.0,95.1,5.9,163,1672,0.52,0.00,111.55,0.760,6,0.106,0.000,2732,2123,2799
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1672,begin climb
$GC,1675,0.77,146.6,97.8,0.0,175,1792,1.00,0.00,111.20,0.704,6,0.077,0.000,3061,2123,2201
$GC,2110,0.77,146.6,70.1,7.2,217,2114,0.00,2.40,0.00,0.000,4,0.000,0.048,3061,3555,2199
$GC,2143,0.77,146.6,67.4,8.1,220,2147,0.00,2.25,0.00,0.000,6,0.000,0.031,3065,2167,2198
$GC,2469,0.77,146.6,43.6,7.4,250,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2166,2198
$GC,2659,0.77,146.6,30.2,7.0,268,2663,0.00,2.33,0.00,0.000,4,0.000,0.049,3066,3565,2198
$GC,2702,0.77,146.6,27.0,7.6,271,2709,0.00,2.30,0.00,0.000,6,0.000,0.031,3068,2145,2198
$GC,2905,0.77,146.6,13.7,6.3,298,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2144,2198
$GC,2980,0.77,146.6,9.2,6.3,311,2986,0.00,2.28,0.00,0.000,4,0.000,0.044,3069,734,2198
$GC,3015,0.77,146.6,6.8,6.3,317,3021,0.00,2.30,0.00,0.000,6,0.000,0.037,3070,2161,2197
$GC,3089,0.78,155.7,3.0,4.7,330,3102,0.00,2.33,6.82,0.729,4,0.000,0.044,3069,741,2165
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,1.1,1.023736
$STATE,3192,end surface coast,CONTROL_FINISHED_OK
$STATE,3192,begin surface
$SM_CCo,3212,62.35,0.693,0,0,1577,300.00
$SM_GC,1.53,0.00,0.00,62.35,0.000,0.000,0.693,19,2266,1577,-8.76,0.45,300.00
$IRIDIUM_FIX,4748.51,-12221.84,150907,212126
$TT8_MAMPS,0.026078
$HUMID,1854
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,49.7
$24V_AH,24.5,27.523
$10V_AH,10.7,13.175
$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,20.550,28.075,229.575,62.350,0.000,76.938,162.959,101.484,0.500,0.000,0.000,14.621,580.000,1720.540,342.763,689.121,453.825,33.335,685.749,0.000,706.260,0.000,2.524
$DEVICE_MAMPS,210.158,53.690,760.097,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.470,273.303,587.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15936,348
$CFSIZE,260165632,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,182137,4806.792,-12222.647,11,1.0,28,18.3