version: 66.02
glider: 128
mission: 2
dive: 274
start: 9 17 107 0 20 40
data:
$ID,128
$MISSION,2
$DIVE,274
$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,-65748.234
$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,32
$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
$GPS1,001433,4805.123,-12221.180,8,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.1
$GPS2,001939,4805.159,-12221.216,12,2.0,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.113
$KALMAN_X,20569.8,8.4,69.4,-17333.8,35.6
$KALMAN_Y,10830.4,56.9,51.7,-17063.3,130.8
$MHEAD_RNG_PITCHd_Wd,133.3,398,-15.9,-5.026
$D_GRID,108
$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,-0.98,-80.0,0.0,0.0,0,86,0.00,0.00,-60.50,0.000,2,0.000,0.000,10,2265,3090
$GC,89,-1.04,-125.0,3.2,-2.9,11,108,10.07,0.00,-5.07,0.000,6,0.214,0.000,2481,2265,3311
$GC,176,-1.04,-125.0,12.6,-8.5,26,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2265,3314
$GC,249,-1.04,-125.0,18.7,-8.2,39,256,0.00,2.33,0.00,0.000,4,0.000,0.053,2472,3647,3314
$GC,273,-1.04,-125.0,20.8,-8.9,43,277,0.00,2.28,0.00,0.000,6,0.000,0.029,2472,2228,3314
$GC,476,-1.04,-125.0,38.1,-8.7,62,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2227,3315
$GC,667,-1.04,-125.0,54.0,-8.1,80,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2227,3315
$GC,986,-1.04,-125.0,79.5,-8.2,110,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2225,3316
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1180,-0.28,0.0,95.3,8.1,128,1280,0.80,0.00,95.75,0.765,6,0.126,0.000,2720,2144,2799
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1280,begin climb
$GC,1283,1.04,125.0,97.6,0.0,138,1387,1.30,2.55,94.18,0.686,4,0.082,0.051,3146,3551,2289
$GC,1404,1.04,125.0,90.0,9.8,150,1409,0.00,2.35,0.00,0.000,6,0.000,0.032,3157,2158,2288
$GC,1732,1.04,125.0,57.9,10.0,180,1736,0.00,2.35,0.00,0.000,4,0.000,0.048,3166,735,2287
$GC,1771,1.04,125.0,53.8,9.9,183,1775,0.00,2.33,0.00,0.000,6,0.000,0.037,3166,2152,2287
$GC,2097,1.04,125.0,22.2,9.7,213,2101,0.00,2.35,0.00,0.000,4,0.000,0.053,3166,3564,2287
$GC,2153,1.04,125.0,16.3,10.4,220,2160,0.00,2.30,0.00,0.000,6,0.000,0.033,3177,2140,2287
$GC,2228,1.04,125.0,9.0,9.7,233,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2140,2287
$GC,2301,1.04,125.0,2.6,8.1,246,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2140,2286
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.6,1.023975
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2358,92.07,0.704,0,0,1577,300.00
$SM_GC,1.29,0.00,0.00,92.07,0.000,0.000,0.704,9,2259,1577,-8.79,0.25,300.00
$IRIDIUM_FIX,4748.51,-12221.84,170907,030348
$TT8_MAMPS,0.026078
$HUMID,1824
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,42.8
$24V_AH,24.6,29.751
$10V_AH,10.7,14.487
$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,21.150,19.125,189.925,92.075,0.000,38.284,46.671,124.868,0.500,0.000,0.000,13.576,439.868,1184.672,319.931,511.505,324.909,33.328,600.561,0.000,522.123,0.000,2.510
$DEVICE_MAMPS,213.993,64.428,765.466,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,180.422,196.392,426.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12836,253
$CFSIZE,260165632,250011648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,010235,4805.013,-12220.993,8,2.1,27,18.3