version: 66.02
glider: 128
mission: 2
dive: 276
start: 9 17 107 2 6 7
data:
$ID,128
$MISSION,2
$DIVE,276
$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,-65799.711
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,020028,4804.984,-12221.076,11,2.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.7
$GPS2,020507,4805.011,-12221.079,15,1.5,32,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.052
$KALMAN_X,20650.1,47.9,-68.2,-17146.7,11.2
$KALMAN_Y,11194.9,-47.4,200.0,-17745.9,174.5
$MHEAD_RNG_PITCHd_Wd,138.0,100,-39.0,-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,-2.18,-15.1,0.0,0.0,0,135,0.00,0.00,-105.70,0.000,6,0.000,0.000,15,2265,2862
$GC,138,-2.20,-31.0,2.1,-1.4,20,157,8.45,2.38,-1.85,0.000,4,0.212,0.061,2095,3658,2929
$GC,461,-2.20,-32.0,20.9,-4.8,75,467,0.00,2.25,0.00,0.000,6,0.000,0.028,2096,2229,2930
$GC,658,-2.21,-35.5,29.2,-4.2,94,663,0.00,2.38,-0.17,0.000,4,0.000,0.061,2085,3657,2948
$GC,966,-2.21,-35.5,46.3,-5.5,121,970,0.00,2.22,0.00,0.000,6,0.000,0.028,2085,2237,2948
$GC,1163,-2.21,-35.5,56.4,-5.4,139,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2238,2948
$GC,1484,-2.21,-38.2,71.8,-4.4,169,1488,0.00,2.20,0.00,0.000,4,0.000,0.041,2085,856,2948
$GC,1677,-2.22,-41.8,81.2,-4.2,185,1685,0.12,2.22,-0.22,0.000,6,0.193,0.035,2101,2257,2978
$STATE,1927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1927,begin apogee
$GC,1933,-0.28,0.0,95.1,5.8,209,1972,2.15,0.00,35.08,0.870,6,0.163,0.000,2726,2141,2799
$STATE,1973,end apogee,CONTROL_FINISHED_OK
$STATE,1973,begin climb
$GC,1976,2.22,41.8,96.0,0.0,213,2019,2.33,2.45,32.45,0.692,4,0.075,0.048,3532,3552,2628
$GC,2127,2.22,41.8,77.2,14.9,226,2133,0.00,2.28,0.00,0.000,6,0.000,0.032,3543,2158,2627
$GC,2454,2.22,41.8,33.9,12.2,257,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2158,2627
$GC,2656,2.22,41.8,10.5,10.9,283,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2158,2626
$GC,2730,2.22,41.8,3.2,10.1,296,2736,0.00,2.30,0.00,0.000,4,0.000,0.044,3553,738,2626
$GC,2782,2.24,58.1,2.8,1.3,305,2801,0.00,2.28,12.45,0.820,6,0.000,0.038,3553,2146,2563
$GC,2869,2.26,76.2,3.7,1.0,320,2893,0.00,2.42,13.95,0.769,4,0.000,0.050,3553,3559,2488
$STATE,2914,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FINISH,2.5,1.025007
$STATE,2977,end surface coast,CONTROL_FINISHED_OK
$STATE,2977,begin surface
$SM_CCo,2980,255.00,0.626,0,0,204,636.80
$SM_GC,1.07,10.32,0.00,0.00,0.043,0.000,0.000,11,2232,195,-8.70,-0.51,639.01
$IRIDIUM_FIX,4748.51,-12221.84,170907,050519
$TT8_MAMPS,0.027612
$HUMID,1850
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,46.2
$24V_AH,25.1,29.904
$10V_AH,10.8,14.571
$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,23.375,27.775,93.925,255.000,0.000,37.861,37.378,96.987,0.250,0.000,0.000,33.558,581.538,1573.423,452.711,746.841,294.801,33.320,810.263,0.000,744.590,0.000,2.520
$DEVICE_MAMPS,212.459,60.593,869.778,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.372,264.560,572.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15887,339
$CFSIZE,260165632,249950208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,030259,4804.956,-12221.027,9,2.4,29,18.3