version: 66.02
glider: 128
mission: 2
dive: 280
start: 9 17 107 6 13 7
data:
$ID,128
$MISSION,2
$DIVE,280
$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,-65910.234
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,060723,4804.971,-12220.880,10,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.9
$GPS2,061207,4804.991,-12220.899,12,1.8,28,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,0.004
$KALMAN_X,20526.0,-5.6,-124.9,-16691.7,0.1
$KALMAN_Y,11618.2,-91.4,-17.0,-17945.8,8.1
$MHEAD_RNG_PITCHd_Wd,255.8,126,-42.5,-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,-2.38,-12.9,0.0,0.0,0,135,0.00,0.00,-105.25,0.000,6,0.000,0.000,7,2254,2852
$GC,138,-2.39,-27.6,1.9,-1.2,20,157,8.23,2.35,-1.95,0.000,4,0.212,0.053,2043,845,2914
$GC,461,-2.41,-41.0,10.3,-1.5,77,468,0.00,2.28,-1.05,0.000,6,0.000,0.035,2035,2262,2970
$GC,536,-2.41,-41.0,13.6,-5.2,90,543,0.00,2.30,0.00,0.000,4,0.000,0.039,2035,843,2972
$GC,845,-2.41,-41.0,34.0,-6.7,126,852,0.00,2.28,0.00,0.000,6,0.000,0.035,2026,2247,2972
$GC,1043,-2.41,-41.0,46.2,-6.2,145,1047,0.00,2.25,0.00,0.000,4,0.000,0.038,2026,833,2972
$GC,1352,-2.41,-41.2,62.9,-5.0,172,1359,0.12,2.28,0.00,0.000,6,0.198,0.036,2041,2257,2973
$GC,1677,-2.41,-41.2,80.8,-5.3,203,1681,0.00,2.28,0.00,0.000,4,0.000,0.038,2042,836,2973
$STATE,1928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1928,begin apogee
$GC,1935,-0.28,0.0,95.1,5.7,225,1974,2.42,0.00,34.08,0.910,6,0.170,0.000,2727,2154,2800
$STATE,1975,end apogee,CONTROL_FINISHED_OK
$STATE,1975,begin climb
$GC,1978,2.41,41.2,96.0,0.0,229,2021,2.50,2.40,31.90,0.683,4,0.072,0.047,3597,3547,2631
$GC,2325,2.41,41.2,44.3,15.0,260,2330,0.00,2.28,0.00,0.000,6,0.000,0.033,3608,2143,2629
$GC,2523,2.41,41.2,19.4,11.7,278,2529,0.00,2.35,0.00,0.000,4,0.000,0.048,3608,3555,2629
$GC,2559,2.41,41.2,15.0,12.2,284,2566,0.00,2.28,0.00,0.000,6,0.000,0.033,3619,2144,2629
$GC,2634,2.41,41.2,6.1,11.3,297,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2143,2629
$STATE,2683,end climb,SURFACE_DEPTH_REACHED
$STATE,2683,begin surface coast
$FINISH,1.9,1.024670
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2710,272.35,0.638,0,0,204,636.80
$SM_GC,0.95,10.50,0.00,0.00,0.044,0.000,0.000,8,2256,195,-8.70,0.17,639.01
$IRIDIUM_FIX,4751.72,-12535.27,170907,090911
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,48.1
$24V_AH,25.1,30.218
$10V_AH,10.8,14.749
$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,23.775,27.650,65.975,272.350,0.000,39.622,39.001,96.558,0.500,0.000,0.000,29.810,552.699,1351.383,448.448,752.179,293.046,33.319,799.862,0.000,749.056,0.000,2.526
$DEVICE_MAMPS,211.692,52.923,910.429,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.684,239.635,523.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16004,310
$CFSIZE,260165632,249835520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,070527,4804.868,-12220.993,12,1.7,13,18.3