version: 66.02
glider: 128
mission: 2
dive: 307
start: 9 18 107 8 37 22
data:
$ID,128
$MISSION,2
$DIVE,307
$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,-66566.188
$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,31
$R_STBD_OVSHOOT,35
$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,150
$AH0_10V,100
$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
$GPS1,083207,4806.241,-12222.189,13,1.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.9
$GPS2,083621,4806.218,-12222.180,11,1.2,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.028,-0.155
$KALMAN_X,22458.0,47.7,47.4,-20431.4,282.8
$KALMAN_Y,13090.5,-316.4,-230.9,-16706.6,-14.6
$MHEAD_RNG_PITCHd_Wd,151.6,2687,-10.6,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,99,0.00,0.00,-71.40,0.000,2,0.000,0.000,13,2272,3342
$GC,102,-0.77,-146.6,3.5,-3.3,13,120,10.32,2.40,-1.12,0.000,4,0.211,0.054,2567,829,3400
$GC,425,-0.77,-146.6,32.1,-7.2,54,431,0.00,2.33,0.00,0.000,6,0.000,0.040,2565,2248,3402
$GC,622,-0.77,-146.6,45.0,-6.4,73,626,0.00,2.30,0.00,0.000,4,0.000,0.042,2565,840,3402
$GC,655,-0.77,-146.6,47.3,-6.9,75,661,0.00,2.33,0.00,0.000,6,0.000,0.040,2565,2250,3401
$GC,853,-0.77,-146.6,59.7,-6.1,94,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2250,3402
$GC,1171,-0.77,-146.6,79.6,-6.4,124,1175,0.00,2.35,0.00,0.000,4,0.000,0.055,2564,3666,3402
$GC,1200,-0.77,-146.6,81.4,-6.4,126,1204,0.00,2.28,0.00,0.000,6,0.000,0.030,2564,2229,3402
$STATE,1437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1437,begin apogee
$GC,1444,-0.28,0.0,95.5,5.7,148,1561,0.50,0.00,111.00,0.755,6,0.111,0.000,2724,2140,2799
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1564,0.77,146.6,97.8,0.0,160,1681,1.02,0.00,110.90,0.699,6,0.080,0.000,3060,2140,2201
$GC,1999,0.77,146.6,69.4,7.3,202,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2141,2199
$GC,2318,0.77,146.6,47.1,6.4,232,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2140,2199
$GC,2509,0.77,146.6,34.8,6.3,250,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2140,2198
$GC,2700,0.77,146.6,22.5,6.5,268,2704,0.00,2.38,0.00,0.000,4,0.000,0.051,3060,3570,2198
$GC,2738,0.77,146.6,19.7,7.5,271,2744,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,2173,2198
$GC,2947,0.77,146.6,6.9,5.9,308,2953,0.00,2.33,0.00,0.000,4,0.000,0.047,3070,744,2198
$GC,3005,0.77,146.6,4.0,5.2,318,3011,0.00,2.28,0.00,0.000,6,0.000,0.038,3069,2153,2198
$STATE,3049,end climb,SURFACE_DEPTH_REACHED
$STATE,3049,begin surface coast
$FINISH,0.8,1.024398
$STATE,3095,end surface coast,CONTROL_FINISHED_OK
$STATE,3095,begin surface
$SM_CCo,3114,72.55,0.700,0,0,1577,300.00
$SM_GC,1.30,0.00,0.00,72.55,0.000,0.000,0.700,20,2262,1577,-8.75,0.31,300.00
$IRIDIUM_FIX,4748.51,-12224.57,180907,111108
$TT8_MAMPS,0.026845
$HUMID,1866
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,41.0
$24V_AH,24.5,32.103
$10V_AH,10.7,15.882
$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,20.525,23.475,221.900,72.550,0.000,38.057,35.601,91.682,0.500,0.000,0.000,12.871,554.956,1613.252,347.723,662.788,285.594,33.327,677.250,0.000,681.062,0.000,2.510
$DEVICE_MAMPS,210.925,67.496,755.495,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.479,263.316,563.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15946,334
$CFSIZE,260165632,249102336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,093115,4805.883,-12221.904,9,1.5,10,18.3