version: 66.02
glider: 128
mission: 2
dive: 278
start: 9 17 107 4 12 30
data:
$ID,128
$MISSION,2
$DIVE,278
$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,-65848.445
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,040327,4804.898,-12220.983,9,1.2,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.9
$GPS2,041127,4804.913,-12221.028,13,1.1,13,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,0.050
$KALMAN_X,20534.2,86.3,-142.4,-16931.6,-25.3
$KALMAN_Y,11287.1,-26.4,239.1,-18080.0,-26.9
$MHEAD_RNG_PITCHd_Wd,359.0,166,-41.4,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-2.31,-13.5,0.0,0.0,0,133,0.00,0.00,-104.90,0.000,6,0.000,0.000,8,2255,2857
$GC,136,-2.33,-28.0,2.0,-1.4,20,155,8.35,2.40,-1.58,0.000,4,0.212,0.060,2057,3665,2915
$GC,459,-2.35,-44.7,10.6,-0.8,77,467,0.00,2.25,-1.27,0.000,6,0.000,0.027,2057,2233,2985
$GC,535,-2.35,-46.3,13.5,-4.6,90,541,0.00,2.38,0.00,0.000,4,0.000,0.047,2046,3667,2986
$GC,844,-2.35,-46.3,35.8,-6.9,125,850,0.00,2.25,0.00,0.000,6,0.000,0.028,2046,2247,2987
$GC,1041,-2.35,-46.3,48.9,-6.9,144,1045,0.00,2.33,0.00,0.000,4,0.000,0.047,2035,3664,2987
$GC,1287,-2.35,-46.3,65.1,-6.0,165,1293,0.00,2.22,0.00,0.000,6,0.000,0.028,2035,2255,2987
$GC,1615,-2.35,-46.3,84.6,-6.1,196,1619,0.00,2.33,0.00,0.000,4,0.000,0.047,2025,3674,2987
$GC,1703,-2.35,-46.3,91.0,-6.5,203,1710,0.10,2.25,0.00,0.000,6,0.191,0.028,2052,2244,2987
$STATE,1771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1771,begin apogee
$GC,1777,-0.28,0.0,95.4,6.2,210,1823,2.35,0.00,36.70,0.880,6,0.172,0.000,2722,2157,2799
$STATE,1824,end apogee,CONTROL_FINISHED_OK
$STATE,1824,begin climb
$GC,1826,2.35,46.3,96.2,0.0,215,1870,2.47,2.42,35.70,0.687,4,0.074,0.045,3587,756,2611
$GC,1906,2.35,46.3,88.1,14.8,222,1910,0.00,2.33,0.00,0.000,6,0.000,0.036,3587,2156,2610
$GC,2232,2.35,46.3,37.6,14.6,252,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,2156,2609
$GC,2424,2.35,46.3,11.8,13.1,275,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,2156,2609
$GC,2498,2.35,46.3,3.6,10.6,288,2505,0.00,2.30,0.00,0.000,4,0.000,0.049,3587,3555,2609
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,2.2,1.024647
$STATE,2549,end surface coast,CONTROL_FINISHED_OK
$STATE,2549,begin surface
$SM_CCo,2553,280.75,0.633,0,0,204,636.80
$SM_GC,0.98,10.40,0.00,0.00,0.044,0.000,0.000,15,2256,194,-8.69,0.17,639.25
$IRIDIUM_FIX,4748.51,-12224.57,170907,080809
$TT8_MAMPS,0.026078
$HUMID,1827
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,49.3
$24V_AH,25.0,30.064
$10V_AH,10.8,14.658
$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,23.675,27.750,72.400,280.750,0.000,80.424,75.849,168.531,0.250,0.000,0.000,14.907,519.379,1368.540,464.157,651.823,445.746,33.323,785.510,0.000,665.234,0.000,3.895
$DEVICE_MAMPS,212.459,67.496,879.749,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.878,228.218,501.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16016,297
$CFSIZE,260165632,249892864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,050237,4805.004,-12220.999,26,1.0,27,18.3