version: 66.02
glider: 128
mission: 2
dive: 288
start: 9 17 107 13 41 47
data:
$ID,128
$MISSION,2
$DIVE,288
$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,-66090.062
$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,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
$GPS1,133207,4805.058,-12221.013,8,1.5,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.8
$GPS2,134044,4805.059,-12221.062,10,2.0,15,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.078
$KALMAN_X,20413.6,-54.3,84.6,-16939.7,-208.5
$KALMAN_Y,11692.5,-218.0,155.1,-17940.6,187.2
$MHEAD_RNG_PITCHd_Wd,117.8,134,-20.2,-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,-1.19,-52.8,0.0,0.0,0,138,0.00,0.00,-109.70,0.000,6,0.000,0.000,12,2257,3016
$GC,141,-1.24,-93.0,2.7,-2.3,21,160,9.57,2.35,-3.97,0.000,4,0.206,0.053,2414,837,3180
$GC,463,-1.24,-93.0,27.5,-7.6,68,469,0.00,2.33,0.00,0.000,6,0.000,0.037,2405,2250,3183
$GC,660,-1.24,-93.0,41.2,-6.9,87,664,0.00,2.30,0.00,0.000,4,0.000,0.042,2405,837,3183
$GC,732,-1.24,-93.0,46.9,-7.6,93,739,0.00,2.33,0.00,0.000,6,0.000,0.037,2396,2258,3183
$GC,930,-1.24,-93.0,61.6,-7.4,112,934,0.00,2.30,0.00,0.000,4,0.000,0.041,2396,835,3184
$GC,990,-1.24,-93.0,66.4,-8.2,117,997,0.12,2.33,0.00,0.000,6,0.163,0.037,2418,2274,3183
$GC,1315,-1.24,-93.0,90.3,-7.4,148,1319,0.00,2.33,0.00,0.000,4,0.000,0.042,2418,841,3183
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1383,-0.28,0.0,95.2,7.4,153,1460,1.00,0.00,71.43,0.781,6,0.130,0.000,2720,2150,2800
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1463,1.24,93.0,97.2,0.0,161,1542,1.48,0.00,70.65,0.684,6,0.076,0.000,3210,2150,2419
$GC,1860,1.24,93.0,59.7,10.5,199,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2150,2417
$GC,2179,1.24,93.0,29.0,9.1,229,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2150,2417
$GC,2376,1.24,93.0,11.1,9.1,255,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2150,2417
$GC,2449,1.24,93.0,4.7,8.5,268,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2150,2417
$STATE,2493,end climb,SURFACE_DEPTH_REACHED
$STATE,2493,begin surface coast
$FINISH,1.3,1.024200
$STATE,2522,end surface coast,CONTROL_FINISHED_OK
$STATE,2522,begin surface
$SM_CCo,2541,101.28,0.687,0,0,1576,300.00
$SM_GC,1.15,0.00,0.00,101.28,0.000,0.000,0.687,3,2271,1576,-8.81,0.59,300.00
$IRIDIUM_FIX,4754.94,-12544.29,170907,171708
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,43.7
$24V_AH,24.7,30.718
$10V_AH,10.8,15.067
$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,21.450,18.575,142.075,101.275,0.000,81.730,109.064,168.424,0.500,0.000,0.000,16.472,470.284,1330.699,330.017,582.466,473.093,33.323,634.401,0.000,594.743,0.000,2.518
$DEVICE_MAMPS,205.556,59.059,780.806,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.394,218.872,474.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12799,281
$CFSIZE,260165632,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,142658,4805.059,-12220.798,12,2.7,31,18.3