version: 66.02
glider: 128
mission: 2
dive: 285
start: 9 17 107 10 34 14
data:
$ID,128
$MISSION,2
$DIVE,285
$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,-66006.453
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,102837,4804.998,-12220.972,31,1.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.1
$GPS2,103314,4805.019,-12221.000,15,1.3,32,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,-0.064
$KALMAN_X,20650.8,-123.2,264.3,-17212.0,-34.0
$KALMAN_Y,11621.7,-179.6,-342.7,-17483.2,207.1
$MHEAD_RNG_PITCHd_Wd,153.7,36,-34.8,-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,-1.95,-18.8,0.0,0.0,0,80,0.00,0.00,-53.33,0.000,6,0.000,0.000,11,2258,2878
$GC,83,-1.97,-35.5,2.4,-2.0,10,102,8.80,2.40,-1.75,0.000,4,0.213,0.055,2180,838,2947
$GC,404,-1.97,-35.5,23.6,-5.6,61,411,0.00,2.30,0.00,0.000,6,0.000,0.035,2172,2239,2948
$GC,602,-1.97,-35.5,35.0,-5.4,80,606,0.00,2.28,0.00,0.000,4,0.000,0.041,2172,841,2949
$GC,686,-1.97,-35.5,39.3,-5.2,87,690,0.00,2.28,0.00,0.000,6,0.000,0.035,2162,2252,2949
$GC,883,-1.97,-35.5,49.6,-5.3,105,887,0.00,2.30,0.00,0.000,4,0.000,0.049,2151,3657,2949
$GC,1087,-1.97,-35.5,60.8,-6.0,123,1092,0.12,2.25,0.00,0.000,6,0.183,0.029,2178,2229,2949
$GC,1412,-1.98,-37.1,76.6,-4.7,153,1416,0.00,2.20,0.00,0.000,4,0.000,0.041,2178,851,2949
$GC,1531,-1.98,-39.2,82.1,-4.7,163,1536,0.00,2.25,-0.12,0.000,6,0.000,0.036,2170,2258,2966
$STATE,1779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1781,begin apogee
$GC,1787,-0.28,0.0,95.1,5.5,186,1824,1.90,0.00,32.83,0.873,6,0.160,0.000,2720,2132,2800
$STATE,1825,end apogee,CONTROL_FINISHED_OK
$STATE,1825,begin climb
$GC,1827,1.98,39.2,95.9,0.0,190,1864,2.15,0.00,30.62,0.693,6,0.077,0.000,3457,2132,2639
$GC,2182,1.98,39.2,57.2,11.2,224,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2132,2639
$GC,2500,1.98,39.2,25.4,8.9,254,2504,0.00,2.35,0.00,0.000,4,0.000,0.049,3457,3551,2638
$GC,2682,1.98,39.2,7.6,10.1,280,2689,0.00,2.22,0.00,0.000,6,0.000,0.034,3468,2166,2638
$GC,2757,1.98,39.3,3.0,5.0,293,2763,0.00,2.30,0.00,0.000,4,0.000,0.045,3478,741,2638
$GC,3045,2.02,69.5,3.9,-0.5,344,3074,0.00,2.28,22.90,0.845,6,0.000,0.038,3478,2155,2515
$GC,3142,2.03,82.8,2.2,2.6,361,3150,0.00,0.00,5.32,0.645,2,0.000,0.000,3478,2155,2470
$STATE,3150,end climb,SURFACE_DEPTH_REACHED
$STATE,3150,begin surface coast
$FINISH,2.0,1.024640
$STATE,3234,end surface coast,CONTROL_FINISHED_OK
$STATE,3234,begin surface
$SM_CCo,3255,97.75,0.650,0,0,1576,300.00
$SM_GC,1.33,0.00,0.00,97.75,0.000,0.000,0.650,9,2263,1576,-8.78,0.37,300.00
$IRIDIUM_FIX,4745.30,-12222.84,170907,131332
$TT8_MAMPS,0.026845
$HUMID,1898
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,30.0
$24V_AH,25.1,30.500
$10V_AH,10.7,14.941
$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,23.400,27.725,91.675,97.750,0.000,41.006,37.643,92.709,1.000,0.000,0.000,33.541,649.847,1655.074,250.846,801.869,296.219,33.320,604.537,0.000,797.381,0.000,7.043
$DEVICE_MAMPS,213.226,65.195,872.846,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,265.917,297.249,636.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,377
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,113051,4804.934,-12220.966,7,1.8,8,18.3