version: 66.02
glider: 128
mission: 2
dive: 287
start: 9 17 107 12 41 26
data:
$ID,128
$MISSION,2
$DIVE,287
$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,-66072.969
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,123531,4804.903,-12220.990,28,1.8,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.3
$GPS2,124026,4804.918,-12221.019,14,1.7,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.005
$KALMAN_X,20658.6,-143.4,171.1,-17129.3,-108.7
$KALMAN_Y,11451.0,-119.1,21.4,-17922.1,162.5
$MHEAD_RNG_PITCHd_Wd,77.2,154,-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,-105.15,0.000,6,0.000,0.000,8,2246,2852
$GC,138,-2.39,-27.7,1.9,-1.1,20,157,8.15,2.38,-1.77,0.000,4,0.208,0.053,2046,832,2915
$GC,462,-2.41,-41.3,11.6,-1.4,77,469,0.00,2.33,-0.98,0.000,6,0.000,0.035,2038,2272,2971
$GC,537,-2.41,-41.5,14.9,-5.0,90,544,0.00,2.35,0.00,0.000,4,0.000,0.040,2038,826,2972
$GC,848,-2.41,-41.5,35.7,-7.0,124,854,0.00,2.28,0.00,0.000,6,0.000,0.034,2028,2255,2973
$GC,1045,-2.41,-41.5,48.5,-6.1,143,1049,0.00,2.30,0.00,0.000,4,0.000,0.040,2028,827,2973
$GC,1354,-2.41,-41.5,67.7,-6.0,170,1358,0.00,2.28,0.00,0.000,6,0.000,0.035,2019,2255,2974
$GC,1680,-2.41,-41.5,86.9,-5.8,200,1684,0.00,2.28,0.00,0.000,4,0.000,0.038,2018,834,2974
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1819,begin apogee
$GC,1826,-0.28,0.0,95.1,5.9,212,1865,2.50,0.00,34.22,0.884,6,0.171,0.000,2721,2157,2800
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1868,2.41,41.5,95.9,0.0,216,1912,2.53,2.40,32.15,0.690,4,0.074,0.048,3595,3545,2630
$GC,2175,2.41,41.5,50.3,15.3,243,2182,0.00,2.30,0.00,0.000,6,0.000,0.034,3606,2146,2628
$GC,2505,2.41,41.5,8.2,11.8,282,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2145,2628
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,2.2,1.024521
$STATE,2583,end surface coast,CONTROL_FINISHED_OK
$STATE,2583,begin surface
$SM_CCo,2586,283.98,0.636,0,0,204,636.80
$SM_GC,1.00,10.45,0.00,0.00,0.043,0.000,0.000,11,2256,195,-8.69,0.17,639.01
$IRIDIUM_FIX,4745.30,-12220.12,170907,151532
$TT8_MAMPS,0.026078
$HUMID,1827
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,45.0
$24V_AH,25.1,30.651
$10V_AH,10.8,15.028
$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,23.625,23.225,66.375,283.975,0.000,37.780,38.815,108.689,0.500,0.000,0.000,33.203,524.624,1308.129,454.374,713.313,296.542,33.321,785.013,0.000,706.840,0.000,2.520
$DEVICE_MAMPS,207.857,52.923,883.584,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.909,229.909,499.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12806,296
$CFSIZE,260165632,249655296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,133207,4805.058,-12221.013,8,1.5,25,18.3