version: 66.02
glider: 128
mission: 2
dive: 248
start: 9 15 107 22 33 16
data:
$ID,128
$MISSION,2
$DIVE,248
$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,-65225.699
$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,39
$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
$GPS1,222407,4805.683,-12221.524,36,1.1,37,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.3
$GPS2,223214,4805.645,-12221.515,9,1.5,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.145
$KALMAN_X,17654.8,153.8,168.2,-15035.3,8.2
$KALMAN_Y,9796.9,296.1,-153.2,-15164.5,103.9
$MHEAD_RNG_PITCHd_Wd,139.0,1354,-10.6,-5.026
$D_GRID,110
$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,20,begin dive
$GC,22,-0.77,-146.6,0.0,0.0,0,90,0.00,0.00,-65.25,0.000,2,0.000,0.000,5,2268,3196
$GC,93,-0.77,-146.6,3.1,-2.7,12,113,10.45,2.42,-4.28,0.000,4,0.214,0.053,2564,838,3401
$GC,415,-0.77,-146.6,29.4,-6.8,56,422,0.00,2.33,0.00,0.000,6,0.000,0.038,2564,2248,3404
$GC,613,-0.77,-146.6,42.1,-6.1,75,617,0.00,2.28,0.00,0.000,4,0.000,0.039,2564,843,3405
$GC,712,-0.77,-146.6,48.6,-6.3,83,720,0.00,2.33,0.00,0.000,6,0.000,0.037,2564,2257,3405
$GC,910,-0.77,-146.6,60.5,-6.2,102,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2258,3405
$GC,1229,-0.77,-146.6,80.5,-6.0,132,1233,0.00,2.30,0.00,0.000,4,0.000,0.053,2563,3654,3405
$GC,1257,-0.77,-146.6,82.5,-6.8,134,1261,0.00,2.22,0.00,0.000,6,0.000,0.028,2563,2236,3405
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1468,-0.28,0.0,95.2,6.0,153,1586,0.50,0.00,111.80,0.752,6,0.111,0.000,2723,2142,2800
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1589,0.77,146.6,97.8,0.0,165,1706,1.02,0.00,111.22,0.697,6,0.082,0.000,3058,2142,2202
$GC,2024,0.77,146.6,70.1,7.0,207,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2142,2199
$GC,2342,0.77,146.6,48.5,6.3,237,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2142,2199
$GC,2534,0.77,146.6,35.9,6.6,255,2538,0.00,2.22,0.00,0.000,4,0.000,0.043,3065,760,2198
$GC,2562,0.77,146.6,34.1,6.5,257,2568,0.00,2.25,0.00,0.000,6,0.000,0.036,3066,2157,2198
$GC,2759,0.77,146.6,20.9,6.8,276,2763,0.00,2.30,0.00,0.000,4,0.000,0.051,3065,3555,2198
$GC,2789,0.77,146.6,18.9,6.6,279,2795,0.00,2.22,0.00,0.000,6,0.000,0.031,3067,2164,2198
$GC,2863,0.77,146.6,14.0,6.3,292,2869,0.00,2.30,0.00,0.000,4,0.000,0.045,3070,744,2198
$GC,2898,0.77,146.6,11.8,6.3,298,2905,0.00,2.28,0.00,0.000,6,0.000,0.035,3070,2156,2198
$GC,2973,0.77,146.6,7.2,6.3,311,2979,0.00,2.30,0.00,0.000,4,0.000,0.051,3070,3555,2198
$GC,2997,0.77,146.6,5.5,6.5,315,3003,0.00,2.25,0.00,0.000,6,0.000,0.032,3070,2147,2197
$STATE,3069,end climb,SURFACE_DEPTH_REACHED
$STATE,3069,begin surface coast
$FINISH,1.0,1.024121
$STATE,3120,end surface coast,CONTROL_FINISHED_OK
$STATE,3120,begin surface
$SM_CCo,3138,69.38,0.700,0,0,1577,300.00
$SM_GC,1.45,0.00,0.00,69.38,0.000,0.000,0.700,13,2261,1577,-8.77,0.34,300.00
$IRIDIUM_FIX,4751.72,-12219.12,160907,020249
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,43.2
$24V_AH,24.5,27.883
$10V_AH,10.7,13.397
$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,20.675,32.275,223.025,69.375,0.000,80.969,77.922,171.343,0.500,0.000,0.000,16.068,568.755,1668.460,352.490,678.869,451.419,33.337,694.962,0.000,692.582,0.000,2.517
$DEVICE_MAMPS,213.993,65.962,751.660,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.102,264.064,568.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15959,337
$CFSIZE,260165632,250720256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,232732,4805.442,-12221.208,11,2.0,12,18.3