version: 66.02
glider: 128
mission: 2
dive: 268
start: 9 16 107 18 28 36
data:
$ID,128
$MISSION,2
$DIVE,268
$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,-65638.609
$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,54
$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
$GPS1,181908,4806.736,-12222.925,22,1.5,23,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.0
$GPS2,182735,4806.767,-12222.963,11,4.5,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.142
$KALMAN_X,19950.7,8.1,-39.3,-18763.9,160.3
$KALMAN_Y,10689.7,66.2,-98.5,-13802.8,-22.5
$MHEAD_RNG_PITCHd_Wd,136.4,4075,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-65.28,0.000,2,0.000,0.000,19,2269,3203
$GC,93,-0.77,-146.6,3.2,-3.0,12,112,10.38,0.00,-4.35,0.000,6,0.214,0.000,2568,2269,3400
$GC,180,-0.77,-146.6,12.2,-6.9,27,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3402
$GC,253,-0.77,-146.6,17.2,-6.6,40,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3403
$GC,331,-0.77,-146.6,22.4,-6.6,51,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3403
$GC,522,-0.77,-146.6,34.2,-6.3,69,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3404
$GC,713,-0.77,-146.6,45.9,-5.8,87,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3404
$GC,904,-0.77,-146.6,57.3,-6.0,105,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2269,3404
$GC,1223,-0.77,-146.6,75.6,-5.6,135,1227,0.00,2.28,0.00,0.000,4,0.000,0.042,2568,848,3404
$GC,1272,-0.77,-146.6,78.8,-6.1,139,1279,0.00,2.28,0.00,0.000,6,0.000,0.039,2568,2240,3404
$STATE,1542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1548,-0.28,0.0,95.0,5.9,165,1665,0.47,0.00,111.62,0.761,6,0.108,0.000,2723,2140,2799
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1668,0.77,146.6,97.5,0.0,177,1784,1.02,0.00,110.85,0.696,6,0.079,0.000,3061,2140,2202
$GC,2101,0.77,146.6,69.3,7.0,218,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2199
$GC,2420,0.77,146.6,46.2,7.2,248,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$GC,2611,0.77,146.6,33.3,6.6,266,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2139,2198
$GC,2802,0.77,146.6,20.3,6.6,284,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2199
$GC,3005,0.77,146.6,8.1,5.8,319,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$GC,3079,0.77,146.6,3.6,6.1,332,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$STATE,3128,end climb,SURFACE_DEPTH_REACHED
$STATE,3128,begin surface coast
$FINISH,0.4,1.004665
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3221,75.38,0.710,0,0,1576,300.00
$SM_GC,1.42,0.00,0.00,75.38,0.000,0.000,0.710,16,2264,1576,-8.76,0.40,300.00
$IRIDIUM_FIX,4748.51,-12229.01,160907,222257
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,42.2
$24V_AH,24.5,29.336
$10V_AH,10.7,14.247
$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,20.400,4.875,222.475,75.375,0.000,78.375,74.514,185.764,0.250,0.000,0.000,33.766,576.246,1767.918,326.269,697.023,460.298,33.326,668.254,0.000,697.959,0.000,2.512
$DEVICE_MAMPS,213.993,51.389,760.864,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.648,285.975,597.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16021,354
$CFSIZE,260165632,250163200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,192421,4806.450,-12222.560,11,1.7,12,18.3