version: 66.02
glider: 128
mission: 2
dive: 273
start: 9 16 107 23 22 4
data:
$ID,128
$MISSION,2
$DIVE,273
$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,-65734.023
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,231707,4805.361,-12221.398,26,0.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.5
$GPS2,232103,4805.374,-12221.404,10,2.0,10,18.3
$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,20559.9,-23.5,111.6,-17567.8,81.2
$KALMAN_Y,10738.3,98.2,-48.1,-16515.8,113.5
$MHEAD_RNG_PITCHd_Wd,138.7,854,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,102,0.00,0.00,-75.70,0.000,6,0.000,0.000,10,2228,3399
$GC,105,-0.77,-146.6,3.3,-3.1,14,124,10.30,2.42,0.00,0.000,4,0.210,0.048,2558,3657,3403
$GC,377,-0.77,-146.6,28.8,-7.0,52,381,0.00,2.25,0.00,0.000,6,0.000,0.028,2558,2244,3404
$GC,574,-0.77,-146.6,42.2,-6.6,70,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2244,3404
$GC,765,-0.77,-146.6,54.5,-6.1,88,769,0.00,2.25,0.00,0.000,4,0.000,0.043,2558,849,3405
$GC,787,-0.77,-146.6,56.0,-6.5,89,793,0.00,2.30,0.00,0.000,6,0.000,0.039,2558,2244,3405
$GC,1115,-0.77,-146.6,76.4,-6.4,120,1119,0.00,2.35,0.00,0.000,4,0.000,0.055,2552,3661,3405
$GC,1143,-0.77,-146.6,78.4,-6.7,122,1147,0.00,2.22,0.00,0.000,6,0.000,0.028,2552,2247,3405
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1408,-0.28,0.0,95.1,6.5,146,1525,0.55,0.00,112.05,0.773,6,0.113,0.000,2726,2138,2800
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1528,0.77,146.6,97.8,0.0,158,1645,1.02,0.00,111.03,0.689,6,0.082,0.000,3059,2138,2201
$GC,1963,0.77,146.6,69.5,7.3,200,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2138,2199
$GC,2282,0.77,146.6,47.0,6.7,230,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2138,2199
$GC,2473,0.77,146.6,34.7,6.3,248,2477,0.00,2.38,0.00,0.000,4,0.000,0.052,3060,3561,2199
$GC,2496,0.77,146.6,33.1,6.9,250,2500,0.00,2.22,0.00,0.000,6,0.000,0.033,3065,2167,2199
$GC,2698,0.77,146.6,19.8,6.6,269,2704,0.00,2.33,0.00,0.000,4,0.000,0.048,3067,747,2198
$GC,2729,0.77,146.6,18.1,6.3,274,2736,0.00,2.28,0.00,0.000,6,0.000,0.038,3068,2154,2199
$GC,2804,0.77,146.6,13.2,6.2,287,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2154,2198
$GC,2878,0.77,146.6,8.0,7.6,300,2884,0.00,2.33,0.00,0.000,4,0.000,0.054,3068,3557,2198
$GC,2907,0.77,146.6,5.7,7.6,305,2913,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,2141,2198
$STATE,2974,end climb,SURFACE_DEPTH_REACHED
$STATE,2974,begin surface coast
$FINISH,0.4,1.024114
$STATE,3014,end surface coast,CONTROL_FINISHED_OK
$STATE,3014,begin surface
$SM_CCo,3033,70.80,0.731,0,0,1576,300.00
$SM_GC,1.15,0.00,0.00,70.80,0.000,0.000,0.731,10,2265,1576,-8.78,0.42,300.00
$IRIDIUM_FIX,4748.51,-12224.57,170907,020211
$TT8_MAMPS,0.026845
$HUMID,1860
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,50.0
$24V_AH,24.5,29.683
$10V_AH,10.7,14.453
$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,20.425,27.925,223.075,70.800,0.000,40.606,29.909,80.595,0.250,0.000,0.000,12.191,542.717,1566.806,353.706,635.037,265.652,33.326,680.932,0.000,652.260,0.000,2.523
$DEVICE_MAMPS,210.158,59.059,773.136,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.253,254.138,546.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15926,324
$CFSIZE,260165632,250032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,001433,4805.123,-12221.180,8,1.7,9,18.3