version: 66.02
glider: 128
mission: 2
dive: 289
start: 9 17 107 14 36 35
data:
$ID,128
$MISSION,2
$DIVE,289
$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,-66122.625
$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,37
$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
$GPS1,142658,4805.059,-12220.798,12,2.7,31,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.8
$GPS2,143535,4805.083,-12220.852,10,2.5,29,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.026,-0.114
$KALMAN_X,20733.5,-195.3,-117.9,-16659.4,-83.9
$KALMAN_Y,12096.9,-356.9,231.3,-18238.9,279.8
$MHEAD_RNG_PITCHd_Wd,174.4,239,-18.2,-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,-1.09,-63.4,0.0,0.0,0,89,0.00,0.00,-60.05,0.000,6,0.000,0.000,4,2271,3060
$GC,92,-1.13,-94.1,3.4,-3.3,12,111,9.90,2.35,-2.70,0.000,4,0.212,0.052,2451,837,3184
$GC,413,-1.13,-94.1,32.2,-7.8,55,420,0.00,2.33,0.00,0.000,6,0.000,0.037,2443,2248,3186
$GC,611,-1.13,-94.1,46.7,-7.3,74,615,0.00,2.30,0.00,0.000,4,0.000,0.042,2443,833,3187
$GC,752,-1.13,-94.1,57.4,-7.6,86,758,0.00,2.30,0.00,0.000,6,0.000,0.037,2435,2262,3186
$GC,1078,-1.13,-94.1,81.9,-7.5,117,1082,0.00,2.33,0.00,0.000,4,0.000,0.043,2435,831,3187
$GC,1151,-1.13,-94.1,87.7,-8.2,123,1155,0.00,2.28,0.00,0.000,6,0.000,0.037,2429,2248,3187
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1256,-0.28,0.0,95.4,7.5,132,1334,0.95,0.00,72.45,0.794,6,0.126,0.000,2722,2127,2800
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1337,1.13,94.1,97.0,0.0,140,1414,1.38,0.00,71.88,0.695,6,0.078,0.000,3179,2126,2415
$GC,1732,1.13,94.1,63.4,9.3,178,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2126,2413
$GC,2050,1.13,94.1,34.5,8.7,208,2054,0.00,2.38,0.00,0.000,4,0.000,0.051,3179,3554,2413
$GC,2156,1.13,94.1,24.7,9.6,217,2163,0.00,2.28,0.00,0.000,6,0.000,0.033,3189,2158,2412
$GC,2363,1.13,94.1,9.9,6.4,248,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2158,2412
$GC,2437,1.13,94.1,3.4,9.3,261,2443,0.00,2.33,0.00,0.000,4,0.000,0.050,3189,3559,2412
$STATE,2464,end climb,SURFACE_DEPTH_REACHED
$STATE,2465,begin surface coast
$FINISH,1.8,1.024124
$STATE,2473,end surface coast,CONTROL_FINISHED_OK
$STATE,2473,begin surface
$SM_CCo,2493,110.70,0.676,0,0,1576,300.00
$SM_GC,1.69,0.00,0.00,110.70,0.000,0.000,0.676,4,2235,1576,-8.80,-0.42,300.00
$IRIDIUM_FIX,4748.51,-12217.40,170907,181844
$TT8_MAMPS,0.026845
$HUMID,1841
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,41.8
$24V_AH,24.7,30.786
$10V_AH,10.8,15.106
$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,21.400,23.175,144.325,110.700,0.000,80.136,131.942,136.076,0.250,0.000,0.000,31.931,470.196,1313.981,315.424,587.888,458.212,33.321,601.724,0.000,583.213,0.000,2.515
$DEVICE_MAMPS,211.692,52.156,793.845,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,189.353,209.447,450.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12852,267
$CFSIZE,260165632,249606144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,152126,4804.937,-12220.827,44,1.8,50,18.3