version: 66.02
glider: 128
mission: 2
dive: 244
start: 9 15 107 18 27 10
data:
$ID,128
$MISSION,2
$DIVE,244
$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,-65146.035
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,182137,4806.792,-12222.647,11,1.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.5
$GPS2,182608,4806.768,-12222.658,7,1.0,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.147
$KALMAN_X,17468.5,190.3,-108.3,-16021.9,173.9
$KALMAN_Y,9992.5,-32.8,-79.6,-13025.9,-45.6
$MHEAD_RNG_PITCHd_Wd,141.6,3864,-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,22,-0.77,-146.6,0.0,0.0,0,90,0.00,0.00,-65.35,0.000,2,0.000,0.000,19,2267,3210
$GC,93,-0.77,-146.6,3.3,-3.2,12,112,10.45,2.42,-4.07,0.000,4,0.217,0.054,2564,837,3400
$GC,415,-0.77,-146.6,30.2,-6.7,56,422,0.00,2.33,0.00,0.000,6,0.000,0.037,2564,2250,3403
$GC,613,-0.77,-146.6,42.5,-6.3,75,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2251,3403
$GC,804,-0.77,-146.6,54.2,-6.0,93,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2250,3403
$GC,1123,-0.77,-146.6,73.0,-6.4,123,1127,0.00,2.33,0.00,0.000,4,0.000,0.053,2561,3660,3404
$GC,1155,-0.77,-146.6,75.3,-7.0,125,1162,0.00,2.28,0.00,0.000,6,0.000,0.028,2561,2226,3404
$STATE,1481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1487,-0.28,0.0,95.5,5.9,156,1605,0.50,0.00,111.55,0.759,6,0.110,0.000,2721,2148,2799
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,0.77,146.6,98.6,0.0,168,1726,1.02,2.50,111.22,0.706,4,0.082,0.050,3057,3560,2201
$GC,1865,0.77,146.6,82.9,8.3,191,1873,0.00,2.33,0.00,0.000,6,0.000,0.031,3065,2161,2199
$GC,2194,0.77,146.6,58.7,7.5,222,2198,0.00,2.33,0.00,0.000,4,0.000,0.044,3072,744,2198
$GC,2250,0.77,146.6,54.3,7.5,226,2256,0.00,2.30,0.00,0.000,6,0.000,0.035,3072,2163,2198
$GC,2576,0.77,146.6,30.7,7.1,257,2580,0.00,2.30,0.00,0.000,4,0.000,0.051,3071,3557,2198
$GC,2619,0.77,146.6,27.3,7.8,260,2626,0.00,2.28,0.00,0.000,6,0.000,0.031,3080,2157,2197
$GC,2823,0.77,146.6,13.0,7.0,288,2829,0.00,2.30,0.00,0.000,4,0.000,0.045,3083,737,2197
$GC,2858,0.77,146.6,10.6,6.9,294,2864,0.00,2.30,0.00,0.000,6,0.000,0.036,3083,2158,2198
$GC,2932,0.77,146.6,5.4,6.9,307,2938,0.00,2.30,0.00,0.000,4,0.000,0.052,3083,3556,2197
$GC,2961,0.77,146.6,3.5,6.7,312,2968,0.00,2.25,0.00,0.000,6,0.000,0.031,3091,2146,2197
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$FINISH,1.0,1.023920
$STATE,3047,end surface coast,CONTROL_FINISHED_OK
$STATE,3047,begin surface
$SM_CCo,3065,69.62,0.701,0,0,1577,300.00
$SM_GC,1.81,0.00,0.00,69.62,0.000,0.000,0.701,11,2269,1577,-8.78,0.54,300.00
$IRIDIUM_FIX,4751.72,-12221.84,150907,212159
$TT8_MAMPS,0.026845
$HUMID,1860
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,44.9
$24V_AH,24.5,27.593
$10V_AH,10.7,13.217
$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,20.750,32.800,222.775,69.625,0.000,38.403,45.683,100.670,0.500,0.000,0.000,14.926,554.727,1548.077,345.886,684.934,297.277,33.330,693.367,0.000,697.641,0.000,2.517
$DEVICE_MAMPS,217.061,72.865,759.330,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.589,255.665,551.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15982,327
$CFSIZE,260165632,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,192044,4806.464,-12222.361,42,1.4,43,18.3